Greetings!
You can submit a request to withhold federal taxes social for security benefits below:
https://www.ssa.gov/manage-benefits/request-withhold-taxes
As a general rule of thumb, if your filing status is not MFJ and your combined income and half of social security benefits is greater than 25,000, then your social security benefits start to become taxable. For MFJ, this threshold increases to 32,000. Please see:
https://www.ssa.gov/benefits/retirement/planner/taxes.html
Roth qualified retirement distributions are generally not taxable. For other retirement plans, I would definitely recommend withholdings as a general rule of thumb as they will be taxable in the majority of scenarios. You can call your retirement plan provider to help set this up for you.
Best regards!
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