Dear Imran,
No issues at all. PF withdrawal after 5 years of continuous contribution is exempted from tax. Hence, you can withdraw the amount without any tax liability. To initiate the withdrawal process, you can apply using form 19 and form 10C and submit them to your ex-employer. However, if your UAN is linked with Aadhar card and a bank account, you can directly deposit the withdrawal forms to the PF commissioner's office.
I hope this information helps.
Best regards