....or try TTX's Taxcaster tool. It uses 2019 rates, but should be close enough:
https://turbotax.intuit.com/tax-tools/calculators/taxcaster/
In the simplest case, if you are single and withdraw $25,000 or less from the IRA, then your social security is tax-free and you will pay about 6% federal income tax on the IRA. (No tax on the standard deduction of $12,500, then 10% on the next $9000, then 12% on the last $6000.)
However, if you are married, or have other income, or withdraw more than $25,000, then your tax on the IRA goes up and you also start to pay tax on your social security. So you really need to use one of the online calculators.
This is an excellent calculator to play around with
https://www.mortgagecalculator.org/calcs/1040-calculator.php
Edited the link to show the full 1040 calculator instead of 1040ez