All withdrawals are tax-free in your case.
Remember that you paid income tax on the converted amounts in 2018 and 2020. The 5 year rule for conversions means that you pay an additional 10% penalty for early withdrawal if you withdraw in less than 5 years, but only if you are under age 59-1/2. Because you are older, you are never subject to the additional 10% penalty, even on conversions less than 5 years old.
Roth earnings are taxable if withdrawn before age 59-1/2, or if withdrawn less than 5 years after opening your first Roth account, even if you are over age 59-1/2. Since your earliest Roth account was at least 2018 (if not earlier) then withdrawal of earnings is also not taxable at this point.
