If you have separated from service, you are allowed to withdraw your 401(k) balance and pay income tax plus the 10% penalty. You also have the right to rollover the balance to a qualified plan at a new employer or to a private IRA that you can open at most investment firms. You will want to do a direct transfer from plan to plan and not handle the check yourself.
Then, for the CARES act, and if you can certify that you have a COVID-related hardship, the following new rules apply:
1. You don't pay the 10% early withdrawal penalty on the first $100,000
2. The plan trustee does not have to withhold the normal 20%
3. You have up to 3 years to return the money to your plan and "cancel" the withdrawal. If you do that you file a amended return to get back the tax you paid.
If the 401(k) administrator won't honor your request, you can move the money to an IRA and make the withdrawal from there. A private IRA will usually have more investment options than the 401(k), but the fees may be higher.
