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They said they keep 20% out is that about right?

By the way I can leave it in there
Or take a lumb sum
Or roll over
My health is not the best so I would like to get out of debt. I do Start SS this next month and have 2 small retirement checks

I am 66 and retired
I want to withdraw my 401K in a lump sum in order to pay off a huge debt. Will I be penalized for that? Most of it will go for paying off my house