It doesn't say you you have no tax, it is saying that if you qualify then you would not have to pay the 10% tax penalty. There is a 10% early withdraw penalty if you do not meet one of the exceptions to the penalty.
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Any time you have retirement funds where the contributions were tax-free, you must pay income tax on the withdrawals. This includes tax deductible contributions, or salary deferrals, or pension contributions paid by your employer.