Since you are no longer employed with the company, distributions are permitted from the 401(k) without them having to be hardship distributions.
Since you are asking about early withdrawals, presumably you are under age 59½. If you left the company in or after the year your reached age 55, distributions from the company's 401(k) will be exempt from penalty. Otherwise, distributions used to pay out-of-pocket medical expenses are exempt from penalty to the extent that these expenses exceed 10% of your AGI.
