I shouldn't have said principle.
"After age 59½, you can withdraw converted funds without a 10% penalty. But remember, the five-year contribution rule (mentioned above) still applies—if that rule hasn't been met, taxes may apply for the earnings portion of the withdrawal." However, if you've put a dollar in any Roth IRA five years ago or move, you have satisfied the contribution rule.
It can't be any simpler than this:
If you are 59 1/2 or older, AND you put a dollar into any Roth IRA account five years ago or more, then you have no five year rules to think about. Not on principal, conversions, earnings ... nothing. No five-year rule for you.
