If you are under the age of 59.5 and are experiencing financial hardship, you can withdraw funds from your retirement accounts without incurring the usual 10% penalty.
However, not all hardships fit and you are still liable for income tax on withdrawals.
Keep in mind that you will not be able to return the funds to the account if and when your financial situation improves.
Consider other hardship withdrawal alternatives, including a substantially equal periodic payment plan (SEPP).