Yes, you can withdraw the earnings this will not be taxable if you had the Roth IRA for 5 years since you are over 59 1/2. Please see Qualified Distributions for additional information.
If you had the Roth IRA for less than 5 years then this would be taxable if you remove earnings (remove more than the net contributions and conversions).
Yes, the distribution received in 2023 would be reported on your 2023 tax return.
An advantage of leaving the earnings in the account is that they can grow tax-free.
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