When changing jobs, if I rolled over my Roth 401(k) from my old company to a Roth 401(k) with my new company, how should I answer this question in Turbo Tax?
You answered the questions correctly. The first question referenced a regular 401(K) plan that you did not have, as you had a Roth 401(k). The second mentioned a Roth IRA which you don't have, as it is a Roth 401(k).
Code G (with no accompanying code B) reports a direct rollover from a traditional 401(k) account, not from a Roth 401(k) account. By answering No to both questions asking if the destination account was some type of Roth account, the rollover is reported as a rollover from a traditional 401(k) account to another traditional account.
Also note that a distribution from a traditional account in one employer's plan is not permitted to be rolled over (taxably) to a designated Roth account in another employer's plan. A rollover from a traditional 401(k) account to a Roth 401(k) account is only permitted to be done in-plan, and In-plan Roth Rollover (IRR).
Are you sure that there is no code B in box 7 along with the code G?