You can accept distributions from your IRA (including your SEP-IRA or SIMPLE-IRA) at any time. There is no need to show difficulties in accepting a distribution. You can withdraw your Roth IRA contributions at any time and for any reason, with no taxes or penalties. That's because you make contributions with money after taxes, so you've already paid income taxes on that money.
To help you compare the different types of IRAs, you can use a Gold IRA comparison chart to get a better understanding of the differences between them. While Roth IRAs aren't meant to be a savings account, Roth IRAs allow you to withdraw funds without the 10% early withdrawal penalty, but only with a few exceptions. The retirement rules of a Roth IRA are generally more flexible than those of traditional IRAs and 401 (k).