While the withdrawal of the RMD is waived for 2020, the decision to withdraw from a retirement plan is up to the individual tax payer. Any withdrawal in 2020 will be taxed on the 2020 tax return.
If you have taken a distribution from an IRA or 401(k) since February, a new IRS notice extends the 60-day timeline you have to roll it over to another retirement account. IRS Notice 2020-23 allows a deadline extension to July 15, 2020 for time-sensitive actions that were due on or after April 1, 2020 but before July 15, 2020.