Qualified distribution are those made after you reach age 59½, become disabled or die, and it has been more than 5 years since the beginning of the year for which you first made a Roth IRA contribution. Any other distribution is a nonqualified distribution.
Regarding always being able to take out your contributions free of tax and penalty, there are no qualifications being able to do that.
When you receive a nonqualified distribution, the taxable amount is required to be calculated on Part III of Form 8606 where your contributions will be taken into account. Be sure that TurboTax knows the amount of your contributions and Roth conversions by clicking the Continue button on the page that lists the Form1099-R that you have entered and enter or confirm your contribution and conversion basis when asked.
