Social Security benefits become taxable if your other income plus 1/2 your social security reaches:
Married Filing Jointly - $32,000
Single or Head of Household - $25,000
Married Filing Separately - 0
if your income will be high enough in 2019 to be taxed if you take out the full IRA, what you could do is only withdraw enough from the IRA in 2019 so that 1/2 social security + IRA withdrawal + any other income doesn't exceed $32,000. then early in 2020 you could draw out the rest.