You can withdraw your contributions (the money you put in) at any time, tax- and penalty-free. The rules are stricter for earnings: to withdraw them tax-free, you must be at least 59½ and have held the account for at least five years.
If you withdraw earnings before meeting these conditions, you may face both taxes and a 10% penalty. However, there are exceptions for certain situations, such as first-time home purchases, qualified education expenses, or disability.
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