Somewhere in America right now, a courier is carrying an insured package containing forty Gold Eagles from a depository in Delaware to a house in Ohio.
That is entirely legal, entirely normal, and the person receiving those coins is about to owe income tax on them.
Because yes, you can take gold out of a gold IRA. The metal itself can come to you, in a box, with a tracking number.
What you cannot do is take it out without consequence. The moment it leaves the retirement system, the IRS notices, and the size of the notice depends on your age and which kind of account it left.
So the question is not whether you can. It is what it costs, and there are three separate ways to do it with three different price tags.