I contributed $6000 into my IRA roth account in 2019 but later I realized that my income is more than122,000. So I withdrew the 6000 out that account and received a 1099R

Is there anything I can do to avoid the withdrawal tax? Can I possibly open another retirement account and roll it over, or possibly return it to the same account? Help needed!

No, if you income is too high for you to contribute to the Roth IRA there is no way to avoid the early withdrawal penalty.

Opening another account would not change the fact that your income is too high to contribute to a Roth IRA and the income limits are lower for a Traditional IRA.