The OP seemed to be quite fixated on returning to work at their former employer(s) for some reason, even after the possibility of rolling a 401(k) into a new employer's plan was mentioned. I just wanted to be clear that there was no limitation on using only one employer's 401(k) for the age 55 rule. If they wanted, they could return for a quick stint at each employer, and so long as they leave that employer in or after the year they turn 55 they could totally make direct withdrawals from both without paying early withdrawal penalties.
In fact, this could be a good way around the common problem where even though the tax code allows these age 55 withdrawals directly from an employer plan, many employers don't want to keep former employees around in their retirement plan so they have a rule requiring former employees to take out their whole balance the second they touch anything. Unfortunately these rules force former employees to roll their balances into IRAs, which don't have the age 55 rule at all. If you had two separate employers where you qualified for the age 55 rule you could take two separate withdrawals where you take the whole sum out of the 401(k) and deposit all you don't plan to live off of prior to 59-and-a-half into an IRA.