This depends on how the accounts were opened. If the funds were rolled directly from the 401k/403b plans, I think you are stuck with the penalty. If the any of the distributions were not direct, your IRA custodian may be able to recharacterize the rollover contribution from IRA to Roth IRA. This would make that portion of the contribution taxable at the time of distribution of the qualified plan, and thus not subject to the 10% penalty.
I hope this has been helpful to you.
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