Whether or not you have to pay taxes on your retirement depends on how much it is and the amount of other income you have (if any). Unfortunately, there isn't a set age at which you no longer have to pay taxes. I recommend entering your information into TurboTax and the program will determine if you need to file. In addition, the IRS has an interactive tool based on your filing status and income to help you determine if you need to file: Check if you need to file a return.
RMD stands for Required Minimum Distribution. It is the minimum amount of money you must take out of your retirement plan if you were 72 years old or older in 2023. For more information, please see this TurboTax Help Article: What is the required minimum distribution once I reach age 72?
I am very sorry for the loss of your spouse.
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