For a Roth IRA, you may withdraw principal contributions at any time. Withdrawal of earning is subject to regular income tax plus a 10% penalty unless both of these statements are true:
1. You are age 59-1/2 or older
2. The Roth IRA is at least 5 years old.
There are a few exception to the 10% penalty, including coronavirus-related withdrawals if you can certify you had one of the listed financial impacts. But only the penalty is exempted, you still owe regular income tax.
[the above does not apply to a Roth 401(k), see @dmertz 's answer. the tax bracket discussion is still accurate]
Separately, being bumped into a higher tax bracket does not change the tax on all your income, just the amount over the bracket. For a single person in 2020, you pay
- 10% up to $9,875
- 12% on amounts from $9,875 to $40,125
- and 22% on amounts over $40,125.
Don't forget the standard deduction, which is $12,400. You would have to report $52,525 before you are in the 22% bracket, and only the amount over $52,525 would be taxed at 22%, the amounts under that are taxed at zero, 10% and 12%.
