Because you meet the five-year requirement (i.e. it has been five years since you first established and funded a Roth IRA) and you are at least age 59.5, all distributions from your Roth IRA(s) will be tax and penalty free.
The Roth IRA rules do not require any waiting period for investments; however, they do require a waiting period for Roth conversions if the Roth IRA owner does not meet one of the exceptions to the 10% penalty. Reaching age 59.5 is one of these exceptions, so you are no longer subject to any waiting period.
This question was answered by Denise Appleby