401(K) Withdrawal

After 21 years of working for the same company, I quit in late Feb. of this yr. (2020).  And then COVID hit.  Due to COVID wrecking the economy, I have been unable to find work for approx. 8 months.  I am 40-years-old and unable to receive Unemployment Compensation Benefits.  My question is this - Am I able to withdrawal money from my 401(K) account WITHOUT incurring a 10% penalty?  I have read mixed answers.  Many thanks!