UPS has nothing to do with the 401K withdrawal penalties. These are federal rules on all 401K accounts. Same as back in 2018 when you initially tried to get your money.
This is not a UPS or Prudential scam, the rules apply to everyone. Less than 5 minutes on IRS.gov to find this info. 32% of Americans are part of this "scam".
We already knew you're under 59 1/2, not disabled or dead. Now we know you had less than $100,000 in your account.