A hardship withdrawal is very specific by IRS rules. If your parents took certain true hardship withdrawals by that definition, I believe your chances a high that the college financial aid offices would take it off of income. You can look up what those exceptions are. Medical expenses , funeral expenses , catastrophe expenses, disability expenses would likely all qualify. To pay off bills that got too big, help out some family member, are not considered hardship to many. It will depend upon the financial aid director as to whether the distribution was used for a true hardship and paperwork would likely be needed to submitted as proof.
Friends of ours were denied such a withdrawal when a parent lost his job and used distributions to keep the household from going into debt and to start a business to continue a level income flow. They got zero consideration. They ended up pulling their daughter from college for a year, which gave them an extra year of two in college due to that denial.
Also, schools that guarantee to meet full need have their own definitions of need that are generally more stringent than FAFSA. CSS PROFILE is usually involved.
So do go on ahead and set up your request and have documentation of the hardship use of that money. Paying bills is not good enough. The kind og bills and proof that the money went there will likely be required.