I made excess IRA contribution for 2019 but have already withdrawn all of it before April 2020. Can I file 2019 return by July 15, 2020 without paying 6% penalties?

Will I be subject to 6% penalties if I file 2019 return after April 15, 2020 but before July 15, 2020, even if I already withdrew all of the excess IRA contribution before April 2020?