@twb-53 since you are over 59.5, the answer is 'yes'. there is NEVER a 10% penalty on distributions from an IRA once you turn 59.5.
Your understanding of the earnings is correct. That Roth IRA needs to be open for 5 calendar years and after than, none of the earnings are taxable either. Understand, if you have multiple Roth accounts, it's just the oldest one that needs to be open for 5 calendar years.
and technically, you did a "conversion"; you didn't make a 'contribution' - IRS uses those words differently..:-)
