When I left my job during covid, i was able to completely cash out. I took the tax hit but was free and clear with 100% of the remaining post-tax funds.

Took about 2 weeks after my last day, before the money was deposited. Got a statement about the taxes withheld that I referenced during tax season this year.

No penalties because I was leaving the company, a seperation. It's one of the events that allows you to pull clear of it.

Call them and ask. There's loans from yourself too, but that wasn't necessary in my case.