This is the best advice I've seen here.

(Although you have to make it to 59 1/2 to withdraw without penalties!)

Except that you don't have to wait until 59 1/2 to withdraw it without penalties. You can start at 55 or earlier using the "Rule of 55" or SEPP exception depending on the retirement plan that you want to withdraw from.

https://www.thebalance.com/what-is-the-rule-of-55-2894280