No, the withdrawal will not be taxed since the Roth Account had been held for more than five years HOWEVER as an Inherited Roth, the account will need to be depleted as required by the 10-year rule, unless their daughter is a minor child, disabled or chronically ill.
Since it is a Roth Account, there are no yearly RMD required, but the account needs to be depleted by the end of the tenth year.
HERE is more information
"10-year rule: If a beneficiary is subject to the 10-year rule,
- Empty the entire account by the end of the 10th year following the year of the account owner's (or eligible designated beneficiary's) death"
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