There are many strategies that work to get your money out penalty-free. Get as much as you can into IRAs and other tax-defferred or tax-eliminated (think HSA) vehicles.
A small twist on the Roth Pipeline idea. Each year, find a way to earn $2000 taxable income. Put it in a TIRA. Now you can also get the Savers Credit for $1000, which is a non-refundable credit. A single person can then rollover 20K that year from a TIRA to a RIRA and can withdraw that 20K in 5 years tax/penalty free.
Or if you need to have a bigger pipeline, and are married, you will only pay 10% tax on the next $17K. This means that you could set up a pipeline and get access to $37K/year and only pay $1700 that year in taxes. A rate of 4%!
You just need to plan ahead (and hope the tax laws don't change too much).