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The five year wait is from the day you opened the account. It is not reset if you should decide to change custodians.
So if you are opening a Roth at age 51, at 56 the 5
year requirement it met.
So a contribution made at age 61 could be withdrawn the next week if you wish. Hopefully you'll leave it there for quite awhile longer!

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Hmmm, IRS Publication 17 (p. 127) says that a qualified distribution is one that comes from a Roth IRA established at least 5 years ago and that is made on or afer the date that you reach 59-1/2 (except for certain other cases). Of course, the original contribution is not taxable, but the earnings included in a distribution that is not qualified would be taxable.
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