The answer is yes. A trustee can withdraw money from an irrevocable trust, but only in certain circumstances. Those circumstances are going to be detailed in the trust document. One circumstance could be if the trustee is also named as a lifetime beneficiary. This means that as a beneficiary, the trustee may be entitled to a distribution of certain of the assets.
The other way that a trustee can withdraw money or use money from an irrevocable trust is to pay bills related to the trust administration. So if the trustee hires an accountant or an attorney or a financial advisor, for example, the trustee can use trust assets from an irrevocable trust to pay for those professionals.
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