Withdrawing Roth IRA and 401(k) contributions/earnings

Hi r/personalfinance, I have a stupid question to ask...

I am making 401k roth contributions through my employer and am planning on doing Traditional to Roth IRA conversion this year for 2024 and 2025 before mid April.

I have the following questions that I see opposing answers to, so I would really appreciate your help:

1) Can I withdraw my 401(k) Roth contributions at any time without penalties?

2) Can I withdraw my IRA Roth contributions at any time without penalties?

3) Are there any strategies for withdrawing 401(k) Roth and/or IRA Roth earnings and contributions before the age of 59 1/2?

Thank you so much