Subject: Inherited IRA

I apologize if I posted this previously over at TMF but things have been chaotic and I honestly don't remember. I've read and asked a number of people including CPAs and have received different answers. I also asked an older relative who is very good in financial matters and his conclusion was similar to mine 'This is confusing and you see contradictory opinions.'

My father passed away in December 2021. I inherited several accounts but the one I'm trying to understand is his 401K/IRA. This was a tax deferred account they he put into Vanguard and left it there for years. When he passed away he was 84 and had completed his RMDs for 2021.

I thought the rule was that I had until 10 years after his death to withdraw the money and pay taxes on it. And I could withdraw any/all of the money at any point during the 10 years. I'm nearing retirement and my original plan was to wait a few years and then start withdrawing money in my mid 60s prior to us collecting social security. Probably in the 62-65 range.

I've seen other people say you can't wait to withdraw but instead have to take some kind of RMDs (which leads to what amount those have to be) each year.

I've read one tax web site that seems to clearly say the RMDs is the way you have to go. Reading the IRS information is very confusing and not clear at all. I also see that for 2021 and 2022 you definitely don't need to do the RMDs but it was unclear to me which situation the IRS was referring to. I realize there is also a category that I think they called qualified beneficiaries which seem to be children with various issues, etc. and I don't fall into that category.

Does anyone know for sure what the correct answer is? A bonus question is how does the situation change if you inherit the account from a non-parent/spouse relative (e.g., uncle/aunt)?

Thanks
Rich