No. of Recommendations: 0
Personally, I would simply withdraw the principle (the contributions) to the Roths since such are tax and penalty free withdrawals and if I needed more, I would look at a refi or a LOC on my home to get access to the rest.

I assume your pension benefit is credited at a rate higher than the current 7 yr ARM rate or better than Prime (which many LOCs are tied to) so you may be able to use the equity in your property to buy a higher pension without subjecting your retirement dollars to early withdrawal penalties.

I don't see any way for you to withdraw the earnings on the Roths prior to 59 1/2 without penalty and I serious doubt anyone at the IRS would give you the time of day to discuss such a waiver.
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