I received a 1099-R with the amount in Box 1 and Box 5 equal, Box 2a is Blank, and Box 7 only has a Code W (no Code 6). Is this taxable income?

No, it is not taxable .  In fact, the 1099-R does not need to be included in your tax return.  This TurboTax answer from 2 years ago is still very valid for your return:  https://ttlc.intuit.com/replies/5565675