Based on my own personal experience: Yes, taxes can be withheld on retirement accounts, whether they are from RMDs or non-RMD withdrawals. My brokerage account does not offer me any way of withholding from it.
My understanding is that, yes, you can have any amount you want withheld from Social Security payments if you desire.
Personally, I use a combination of RMD withholding and estimated tax payments, and I'm usually pretty close when the time comes for reckoning.
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