I attempted to put the fairmark information into a more readable form. How did I do?
Did great, clearly the best tax advantage is to wait until 59.5 to withdraw anything, having established the Roth 5 years prior.
However, since there is the strech-IRA, I personally would touch Roth IRA last if I plan to leave money to heirs, unless you have a lot in Roth and withdrawing just a little might prevent the loss of an ACA subsidy.
Rule 1: never take money from roth
Rule 2: especially before 59.5
Rule 3: and only after 5years of initial Roth funding
Rule 4: unless you have large roth and need aca subsidy advantage, or don't have heirs