You can avoid the 10% early withdrawal penalty from a 401k plan if you leave after age 55.
Turbo Tax Blog on Early 401K withdrawals and tax consequences
https://turbotax.intuit.com/tax-tips/retirement/an-early-withdrawal-from-your-401k-understanding-the...
It says....
- employee separation from service at age 55 or older (age 50 for most public safety employees) but only from the plan at the job you are leaving
