True - but since you put the money in post-tax you can always withdraw your straight contributions with no tax consequences, any time.
However, rollovers and all that are treated differently. Obviously the income is another story, and must meet the above requirements to be withdrawn tax-free. There are some other rules mixed in there.
10can - that is the whole point on ROTHs - The earnings are tax-free, if you wait to retirement to use the money. A great deal for young people, as ideally the money compounds for decades, tax-free.
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