The Rule of 55 and moving funds from current company's 401K provider to a Fidelity Account

I am [planning to be] on a path to an early retirement., potentially as early as 55. However, my company's 401K provider is not Fidelity. Having been a Fidelity customer of 401K, 529 Plans, rollover IRAs and brokerage accounts for nearly 30 years, I would like to move my 401K investment back to Fidelity post retirement.

Ideally, I would like to use the Rule of 55 for penalty free withdrawals.

What products/strategies does Fidelity have that would allow me, upon retirement, to move this investment from the current provider to a Fidelity account and allow for Penalty free withdrawals similar to the Rule of 55?