Why move the money out of the IRA ... why not do the same investments inside the IRA ?  Move the IRA to that broker if needed. 

Any traditional IRA distribution will be taxable and if you dont have an exclusion you will also pay a 10% penalty. 

As for the ROTH ... the contributions can be removed at anytime tax free however once put into a reg broker's account all the income is taxable. 

It makes no sense to take money out of a Roth IRA just to invest it in a brokerage account outside the Roth IRA.  Invested inside the Roth IRA gains will eventually be tax free.  Invested in the same investment outside the Roth IRA those same gains will be taxable.

you can do a trustee-to-trustee transfer of IRAs and Roth IRAs to a self-directed IRA/RothIRA brokerage account or other financial place that offers better returns on your money. There is no penalty or tax  hit.