"should be comfortably well off"
Excellent! Congrats on your retirement. Here are a couple of withdrawal tips I share with my clients:
The higher SS recipient at 70 should wait until 70 to take SS, if possible. Ideally, both wait, if you can afford it.
Before taking SS, see if taking money out of a Taxable IRA is a better option in the meantime, Why? When taking a pension AND Social Security, they each make the other more taxable. There are also tax pockets where a higher percentage of taxable SS might be triggered, so what you thought was a 22% bracket is really a 31% bracket.
Also, consider Roth conversions, ESPECIALLY if you're below the 22% federal bracket. Remember, RMDs will be required the year you turn 73 (75 if born in 1960 or later), and will be based on your Taxable IRA balance on January 1st. The more you've relied on your taxable IRAs, the less your RMDs will be.
The bride and I are in a sweet spot: she's fully retired, I'm still working, so we've got enough room in our tax bracket to take extra out of our Taxable IRAs (at a low tax rate), and turn around and fully fund our Roth IRAs, something we wouldn't be able to afford normally. This will draw down our taxable IRAs, while feathering our Roth IRAs. Once we start taking SS, we'll take out just enough from Taxable IRAs to get us right below the higher tax bracket, and then withdraw from Roths whatever else we want/need.
Meanwhile, we'll get to pay taxes where we want, when we want, and at the rate we want.
Happy retirement!