"pay all taxes and fees upon withdrawal."
Tax withholding is simply a down payment toward the tax liability determined on the family member's individual tax return. It is not paying all taxes and fees upon withdrawal. The Form 1099-R that reports this distribution was required to be included on the tax return (Form 1040) for the year in which the distribution occurred and the tax withholding will be credited against the resulting tax liability. The result could be a refund or a balance due.
In this case it would be likely that there would be a balance due since the default federal tax withholding on a distribution that is ineligible for rollover would normally be 10% and 10% would be insufficient to cover the tax liability resulting from $200,000 of taxable income.