I'm definitely in the "it depends on your situation" boat, but I have an issue with people saying you need to take the money because it's a 133% return on your investment (ROI). It is for the first year, yes, but it isn't after that unless you can find an investment to invest in that has annual returns of 133% (unlikely). Here is a simplified version with 0% interest for simplicity.
Year 1 - $3000 contribution + $4000 match = $7000 (133% annual return)
Year 2 - $6000 contribution + $8000 match = $14,000 (66% annual return)
Year 3 - $9000 contribution + $12000 match = $21,000 (44% annual return)
Year 4 - same calc - 33% ROI
Year 5 - same calc - 26% ROI
I'm in virtually the same situation. I know I want to "retire" before I'm 59 so that means I need some income between when I retire and when I can actually use the 401K money. My plan is to save money via the 401K contribution and match for 5 years, then take it out early to pay off my house to get rid of that payment. I know I'm will be giving up future WEALTH. I will be trading it for present LIFE. Everything has a give or take to a certain degree. I also realize that I will pay a penalty and I will pay ordinary income tax on the money. But it will allow me to reduce my living expenses in my then-retired life. And maybe I won't need the money in the 401K, in which case I will just let it ride. Just because you put it in, doesn't mean you can't take it out. Sure there's a 10% penalty. It's up to you to invest that money to get your 10% back.
But my main point is that getting a 133% match is not the same as a 133% annual rate of return.