I am 84 years old. My adult children (ages 51 and 58) are equal beneficiaries of my Roth Ira. I contributed to my Roth Ira from 1998 to 2002. I have converted to my Roth account each year from 2011 up to and including 2023.

After reviewing a chart that came with the March 2021 edition of the Ira Advisor, I have some questions.
Since I am over 59 1/2and have met the “5 Year Forever Clock”, I interpret the chart to allow me to withdraw 100% the account tax and penalty free. Am I correct?
Next, when my children inherit the account will they also be able to withdraw from the account tax and penalty free?

Thank you