"I have 29k I can withdraw with any penalty or taxes even thought the account is not 5 years old and Im not 59.5?"
Without penalty or taxes. Because this will not be a qualified distribution, the distribution will need to be reported on Form 8606 Part III to calculate that the taxable amount is zero.
"Those only apply for the earnings?"
What are "those," tax and penalty? If you are under age 59½, the earnings (either those earned in the Roth IRA or those rolled over from the Roth 401(k)), come out of your Roth IRAs last under the Roth IRA ordering rules for distributions and are subject to income tax and, generally, a 10% early-distribution penalty. If your distribution is less than your basis in Roth IRA contributions, you won't be taking out any taxable earnings.
