Yes. If you contributed 'after tax money' (money you paid tax on) to the retirement plan when it was contributed, then you must figure out your taxable amount. If you did not contribute to the plan at all then all of it is taxable.
If all of the money contributed to the plan was tax free, such as a 401(k) then all of it is taxable (not a Roth IRA).
If it is an IRA and some of the money was tax free when contributed then you might have 'nondeductible contributions' which would mean some of it would be taxable and some would be tax free at the time of distribution. The answer assumes this is not a Roth IRA.
Retirement age depends on your plan or 59 1/2 for a traditional IRA.
If you have no knowledge or data about what you may have contributed to your retirement plan then all of it is taxable.
@mjckhc
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