"Between the two of them, there are only $5000 of COVID related expenses."

It isn't clear what this "expenses" means. Have you read on the covid distribution penalty exception that they likely would both qualify for?

Click here: https://www.irs.gov/newsroom/coronavirus-related-relief-for-retirement-plans-and-iras-questions-and-...

Both of these distributions are under the $100,000 limit.