Inherited non-qualified annuity

I inherited a non-qualified annuity from a deceased parent. Do any withdraws I make incur the 10% IRS penalty for withdraws before 59 years of age. Everything I researched says no since this is an inherited non-qualified annuity but wanted to make sure.

Also, I chose the "non-qualified stretch" as the method of distributions moving forward. On any given year, am I able to withdraw more than the calculated amount based on my life expectancy if I need to withdraw more?