If I took a withdrawal from my 401K after the age of 59 1/2 due to financial hardship from COVID-19 and had them deduct federal taxes before sending, can I still opt to pay the taxes over 3 years on my return?
Yes. When you enter your 1099R, you will be asked if this was due to a Covid related reason. When you say yes, you will get the option to pay the tax over 3 years.
if I do defer for 3 years, do I pay interest on the amount I defer?
You are not deferring payment for 3 years. You are spreading the amount taken over 3 years. Paying tax on 1/3 each year. There is no tax or penalty.
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