You must withdraw at least the RMD amount each year (which I'm sure you exceeded for 2025), and you must withdraw the entire amount and close the account by the end of the 10th year. (Which rules you said you know.)
Other than that you can withdraw as much as you want any time you want. You will of course pay income tax (if it is not a Roth IRA), and this may affect your other tax situations, so you should be mindful of things like income limits for certain credits and deductions, IRMAA if you are retired, and your MAGI if you plan to make deductible IRA contributions. Other than those considerations, you can withdraw whatever you want whenever you want.
