Yes, if you remove the excess contribution after the due date of the 2020 tax return then you will request a regular distribution (without the earnings) to remove the excess.
Yes, you just take a regular distribution, and then you will not pay the penalty in future years.
If you remove the excess in 2022 you will have to pay the 6% penalty excess contribution penalty for 2020 and 2021.
**Say "Thanks" by clicking the thumb icon in a post
**Mark the post that answers your question by clicking on "Mark as Best Answer"