I understand your situation is complex and requires careful consideration. I cannot offer financial advice, but I can share some information and alternative strategies to consider:

Selling the Tahoe:

Selling with a lien is possible: You can definitely sell your Tahoe even though you still owe money on it. Most dealerships can handle the lien payoff and title transfer for you. Selling privately will require the buyer to work with your lender to pay off the remaining balance and get the title transferred. Transparency about the lien is crucial during the selling process.
Consider the alternatives: Before dipping into your retirement, explore other options like negotiating a lower payoff amount with your lender, investigating refinancing options for a lower interest rate, or extending the loan term to lower monthly payments.

Managing your debt:

Tackle the high-interest debt: Prioritize paying off the credit cards with 20% interest. Utilize the 0% interest cards for balance transfers strategically, but be diligent in avoiding further charges on those cards. Consider a debt consolidation loan to combine and potentially lower your interest rate.
Seek professional financial advice: Consulting with a certified financial planner can help you create a personalized debt management plan based on your specific financial circumstances and goals.

Retirement savings:

Accessing retirement funds: Be extremely cautious about taking money out of your retirement accounts. Early withdrawals incur penalties and taxes, significantly impacting your future financial security. Explore all other options before considering this step.

Alternatives to bankruptcy:

Debt management plan: A credit counseling agency can help you create a repayment plan with your creditors to settle your debt over time. This can be a viable alternative to bankruptcy and help you maintain good credit standing.
Negotiate with creditors: Contact your creditors directly and explain your situation. They may be willing to work with you on reduced payments, lower interest rates, or other solutions.