If the 401k is with an old employer, you can do a rollover to an IRA, and then convert the money into a Roth
IRA. If the 401k is with your current employer, you have to check with your plan administrator and see if your plan allows "in-service distribution". If this option is allowed, you can rollover the money while still working for your employer. However, many 401k plans do not allow this option and therefore, you wouldn't be able to transfer the money out. In that case, there is no point of withdrawing money from your 401k early, take a tax hit, and then put it back into a Roth IRA. I would recommend keeping the money in the 401k and maximizing your contribution into your Roth IRA. This way, you can build up the Roth IRA over time. You can also check with your employer and see if a Roth 401k option is also available. It can be an easy way to make Roth contributions.
If you're not currently a participant in the 401k then you can 'roll' the account into an IRA, then convert the IRA assets into a Roth IRA by only paying your income tax rate and not the 10% penalty as well. However, if you are still a participant in the 401k (i.e. employed at the same company and making contributions), then you probably can't transfer your 401k balance into an IRA and be able to make the Roth conversion.
I would not recommending withdrawing money out of your 401k early. There is a 10% penalty for early withdrawals. I would recommend continuing to contribute to your 401k and then also contribute to a Roth IRA
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