Overview is here https://www.irs.gov/retirement-plans/roth-iras , but generally 59 and 1/2 is when you can start taking distributions without penalty.
this post was submitted on 17 Nov 2023
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59.5 years old. Got it.
Money in an IRA doesn't automatically "multiply" as you say. You'd need to invest your contributions into something, like a stock or mutual fund
You can take the principle out without penalty. Profits need to wait until 59 1/2 to be penalty free.
https://www.your-roth-ira.com/withdrawing-roth-ira-principal.html
As a note, you can't "borrow" from a roth. So if you withdraw principle, you're limited by the max contribution rate in building up the principle again.
So while it's penalty free, there are limitations to keep in mind.