The main reason why the answers are so varied is your situation and your inability to judge what is best for you without data. Yes, you will be required to pay income taxes on your withdrawal based on your year-end income vs expenses. The two non-tax options are as mentioned, opening a self-directed IRA with a firm that specializes in this. The funds leave your 401k or traditional IRA directly to the SDIRA company. You can use the funds to buy investment property but all of the income must be returned to the SDIRA. This means you can not live on this income unless you want to pay taxes on withdrawals from the SDIRA. There is no tax event if you don't touch any income.
Look at your investment as if it was a dividend-earning stock. Evaluate the return on your investment property against other investments in your equity portfolio. Be sure to factor in appreciation and depreciation. If you buy right and can generate a good ROI, using an SDIRA may be better.
I would also agree with some that even paying taxes may be acceptable if the ROI works out. The biggest negative as I write this is that your portfolio is probably down at least 30% along with the rest of us. The market will likely rebound down the road, if it does, losing 30% means you need to do very well with your new investment to overcome the loss. If however, that 30% is largely income you have earned above your base contribution that is another consideration.
At some point, you will have to take out funds from your qualified retirement plans and be taxed on it. That may be at age 73 (new law) but if you are earning the standard 7% in your IRA and you can make 15% in real estate, that's something to think about.
Lots of people caution against touching your 401k. I would agree if you are funding a vacation but if what you are doing is making a change from one type of investment to another to improve your income, make the best decision based on the numbers. Money is not emotional, it is just money and money loves company.