That is no longer necessary. Cite:
https://www.irs.gov/pub/irs-tege/rollover_chart.pdf, row 6 column 1.
It is possible to roll over from a 401(k) to a Roth IRA. Any amounts rolled over though are generally taxable. Also, this is rarely done, so the sending or receiving account custodians might screw it up.
What is much more common is to retire, roll over the 401(k) to a traditional IRA without incurring any income tax, then do partial rollovers from traditional IRA to Roth IRA - aka Roth conversions.
There are some minor pros and cons to shifting from a 401(k) to a traditional IRA. You can only use the Rule of 55 with a 401(k), not a traditional IRA. But a traditional IRA can be at your chosen custodian, and you generally have more investment options and often lower investment fees.