I ran across a good discussion yesterday from Ed Slott yesterday. While I thought I understood the 5 year rule, he says it is actually 2 clocks. This cleared it up for me.
https://www.irahelp.com/slottreport/turning-back-clocks-and-revisiting-roth-ira-five-year-clocks
Says there are 2 clocks, first is to determine if you pay a 10% penalty for early withdraw. Since you are past the 59.5 your clear on this one.
Second click is to determine if you pay taxes on the withdraw. Since you have had a Roth IRA for over 5 years, any Roth, it would not be subject to taxes.