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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?

Yes. But there are a couple of rules you need to be aware of when doing this

If you do a 'rollover', where you take a withdrawal from your TIRA with the intent of putting it back within 60 days, you may redeposit this to your Roth IRA (RIRA) and it will qualify as a Roth conversion as long as you got it into the Roth within the 60 day period. The nice part about this is the rollover-conversion does not count as a rollover for the once-per-12-month rule.

As mentioned, there is no RMD this year. But during a normal RMD year, the fate of the RMD is to be withdrawn before the end of the year (by April 1st of the first RMD only). The IRS considers any withdrawal to be first the RMD amount. The RMD amount withdrawn is yours to do with as you see fit as the amount withdrawn to meet the RMD requirement no longer has any RMD identity...its just fungible cash in your bank account. If you wish to put an amount equal to the RMD (or not equal to it) into your RIRA the IRS will consider this a contribution, not a Roth conversion, which is fine, providing you + Spouse have at least that amount as earned income from employment, including self employment and the contribution does not exceed the annual maximum contribution and that your Adjusted Gross Income does not exceed the annual maximum.

There is no age limit, conversion maximum or income limit on Roth conversions

We each have IRA's and Roths in our own names

I assume you mention this to show your IRAs are not inherited, as the only way you can title an IRA is to you, the Individual (the I in IRA). IOW, there is no such thing as a jointly held IRA, although your IRA should have a primary beneficiary, usually the spouse. Sometimes this is confused as a jointly held IRA.

If you have further questions, your IRA custodian should be able to assist you

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