You didn't take a Withdrawal, you took a loan. When you changed companies, since there was an outstanding balance on the loan, that balance was considered a withdrawal. So now, you have to pay taxes and a 10% penalty on that amount. Its too late now to do anything about it but pay.
What you could have done, at the time you switched companies, was to pay off the loan, roll over the account into your new company's plan, then take another loan against the rollover to pay off where you got the money from. I've done this before when switching jobs with an outstanding loan.
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