Pattern division multiple access (PDMA) is a promising non-orthogonal multiple access technology for the next generation wireless communication systems. In PDMA systems, the inherent residual transceiver impairments introduced by nonideal hardwares incur significant performance degradation. In this paper, we propose a residual-transceiver-impairments-aware (RTIA) expectation propagation algorithm (EPA) receiver to mitigate the detrimental influences of the nonideal hardware imperfections for uplink PDMA systems. The user-specific transmitter distortion powers are considered in the message passing procedure of the EPA detection. The parallel interference cancellation (PIC) scheme is incorporated into the proposed RTIA-EPA receiver to further improve the system performance and reduce the computational complexity. Simulation results illustrate that the proposed RTIA-EPA and RTIA-EPA-PIC receivers achieve significant performance gains over the conventional residual-transceiver-impairments-agnostic counterparts with negligible computational complexity overhead.