If you pull money from a traditional 401k, then there would be taxes owed. If the money comes from a roth 401k, taxes have already been paid, and nothing additional would be owed on those $'s. Assuming you are over 59 1/2.
The IRS allows penalty-free withdrawals from retirement accounts after age 59½ and requires withdrawals after age 72. (These are called required minimum distributions, or RMDs). There are some exceptions to these rules for 401(k) plans and other qualified plans.
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