I just ran the calculation through my TaxCaster app with the assumptions of 96k income, no taxes withheld, and 4 kids. It spit out as refund of $115. This doesn’t take into account that when you withdraw from a taxable account, you are only taxed on the the growth and not any principle you pull out. It would not be hard to pay zero taxes on $96k a year.
Living off that depends on your lifestyle. Without a house payment, you could live pretty nicely off of that. With a house payment you could still live pretty decent, but not too extravagantly.