I have a question regarding the 5 year Roth IRA conversion rules.

I have had both a traditional IRA and a Roth IRA for well over a decade. I am retired and 62 years old. Over the past several years I have moved money from my 401k (as a direct rollover) into my traditional IRA, then did a Roth IRA conversion (a direct conversion). I will continue these Roth IRA conversions for several more years. I paid taxes on the Roth conversions and have saved documentation of the conversion transactions each year.

My understanding is I have satisfied the various 5 year rules and would not be required to pay any tax or penalties on the converted dollars nor the earnings on the conversions if I made a full distribution from my Roth IRA.

If I would die, my Roth IRA passes to my kids as the beneficiaries. My question – since my most recent Roth IRA conversion may have occurred in the year before my death, would my non spouse beneficiaries have any 5 year rules they must satisfy or could they take tax free and penalty free distributions immediately? I am trying to make sure I have maintained the necessary documentation for their future needs.

Thanks for you guidance