Took the VERA that was offered (early retirement) from the VA after almost 35 years of employment

I’m wanting to take a withdrawal from my TSP (thrift savings program) to supplement my pension because I did not reach my actual retirement age of 56 and 10 months and I’m not able to receive the social security supplement that is normally given as a supplement until I reached 62, my pension is less than half of what I was bringing home NET monthly. I was told there will be no penalty to withdraw because I qualified for the early retirement but I’m at least 55 years old, they told me to call the IRS and was told that it’s called the “rule 55” and that I will receive a 1099 form and then my tax preparer would “waive it” if there is any penalty, does that sound right? When I try to do the withdrawal in my account I get a warning that there could be a penalty, of course trying to get an answer from OPM is impossible. Thank you!