Withdrawals are always taken in the order of contributions first, conversions second, and earnings last.
Contributions can always be withdrawn tax-free no matter your age.
If conversions are withdrawn less than 5 years after the conversion AND you are under age 59-1/2, there is a 10% penalty for early withdrawal.
If earning are withdrawn and you are less than age 59-1/2, OR you are any age but it has been less than 5 years since you opened your first Roth IRA, the earnings are taxable, plus a 10% penalty for early withdrawal if under age 59-1/2.
If you are over age 59-1/2 and it has been more than 5 years since you opened your first Roth IRA, all withdrawals are always tax-free. There is no annual limit.
This answer has been verified for accuracy by an Intuit expert employee
