can companies get money from our roth IRA or annunity for payments on returned Motor Home
No those funds are exempt from attachment while they are inside those financial vehicles but as soon as the money is withdrawn it is fair game.
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Under Florida law, these assets are exempt by statute, and proceeds from these assets are also exempt in your bank account as long as you keep the proceeds segregated.
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I agree these funds are normally protected. However, creditors may try to argue that the accounts were created recently in the effort to thwart creditors, which is an issue that may have to be litigated. I've also seen bankruptcy trustees threaten to to seize recent deposits on those grounds. You should see an attorney who can review the facts of your case specifically to ensure the funds are protected.