Mad Fientist ran numbers on this situation, showing that in the end it is more efficient to use tax-deferred vehicles to reach your number, then use the Roth conversion ladder, or SEPP (structured equal periodic payments). Max out 401k, Roth, HSA, and Roth 401k if your employer offers it.
However, it comes down to personal preference. One of the nice things about putting money in a taxable account is that it can essentially function as an emergency fund if sh*t ever hits the fan. Having the money accessible isn't a bad thing if you're also uncertain with your job security. Please be ware that you're adding after tax dollars to this account and it'll be taxed annually as well whereas the 401k and ROTH are not hit as hard/not taxed until withdrawal*. What this means is that you'll have a longer working career while you fight the tax monster to hit your number.
The tax efficient way requires more planning and work so if you're lazy or bad at planning, it may not be right for you.
*even that can be avoided if your income is low at the time of withdrawal. Again, planning...