Pension and tax

I want to maximise my income from my personal pension without paying ANY income tax. Since I have not bought an annuity (I'm 58 but can't work due to Parkinson's disease) I'm told I can draw down 25% of my fund tax free. Since the annual tax free allowance is currently (2024-25) £12,570, I believe this means I can have an income of £16,760 per year without paying any tax (75% of £16,760 being £12,570 and the remaining £4,190 being the tax free drawdown. I also received PIP which is also tax free. I have no other sources of income. Please can someone tell me if I have that right, or if I've made a mistake in either my maths or my assumptions! Thanks!

Hi
Based on the details supplied then yes the would be tax free.

Thanks!