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I believe we can withdraw some amount from our IRA's every year and convert to a Roth. Is this actually do-able? What are the mechanics?

Yes, although you don't generally withdraw and then convert - you generally move assets (either money or stock) directly into the Roth from the Traditional IRA, without taking control of the money yourself. That's important because if you take control of the money yourself, it's considered a rollover, and you are limited to one every 365 days. You want to do a trustee-to-trustee conversion.

The mechanics depend on your broker. I've done mine at Vanguard using their website. Not sure about others. If your Roth is at a different brokerage than your Traditional IRA, you can either set up a Roth at the same brokerage that your Traditional is at, or you can ask the Roth custodian to pull the assets from the Traditional brokerage.

Can any part of my WRD be used to fund a Roth?

Presuming you meant RMD, not WRD - no, an RMD cannot be converted to a Roth. Most brokers make you take the RMD out, or at least have a plan set up to take the RMD out monthly, before they allow you to do a Roth conversion.

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