You can also look into something called the rule of 72(t). You don't get access to your entire account, but you can take out "substantially equal periodic payments" over a 5-yr period and only pay the capital gains without paying the penalty.
You can't access the REST of that particular 401k until the GREATER of 5 years has passed...or the time you turn 59 1/2.
I waited until I got within 5 years of 59 1/2.
Here is one of the first posts I read about it.
https://www.madfientist.com/how-to-access-retirement-funds-early/