Simple IRA and Social Secutiry

I am 69 yrs old, with a diagnosis of stage 4 melanoma.  My wife died in 2021 of lymphoma.  My income currently is only Social Security, i have not taken any disbursements from the IRA

Rumors around the senior center here say i should be able to draw some, if not all of an amount equal to or less than that i get from Social Security without penalty or taxation.

Is this true?  Or do you recommend a more effective strategy?