One other comment. Is this really an IRA, or is this a 401(k), 403(b), or other qualified workplace plan? Generally, you can withdraw from a workplace plan without paying the 10% penalty if you separate from service in the year you turn 55 or older. If this is a qualified workplace plan, then as long as your 55th birthday is before 12/31/21, you would not pay the penalty.
It is terribly important to remember and be aware that workplace plans (401k, 403b, 457, 401a, etc.) are controlled by separate laws and may have important differences from IRAs even though their operation is similar.
