You have to look at your specific situation. I don't think it's worth paying a 10% penalty, for example. Here are some potential options:
--Direct current contributions to retirement to a 529 plan now so you can save up for tuition which will be due in July or August of next year.
--Pull contributions from a Roth IRA; remember, though, you will lose room in this account forever
--Pull any amount from a Roth IRA that has been open for more than 5 years; same problem as above
--Pull from your taxable account and consider SEPP payments from your 401k at age 55 (
https://www.irs.gov/retirement-plans/substantially-equal-periodic-payments)
--Reduce your expenses and cash flow college
If you really do have enough to be considering retiring early in your 40s, then I suspect you can come up with a good solution where you don't pay a penalty. I do question why you have not made a plan for college until your child is 17, though. Without solid numbers, I can't give you more advice, but happy to help if you post specifics. I don't believe dying with the most money in the graveyard is a worthy goal. Savings is deferred spending and now you have a reason to spend. You just want to find the optimal way to spend it without paying more than you must or stealing from your future life.