Inherited IRA advice needed

Hello,

I inherited an IRA of $300,000 from a parent. I understand I’ll pay taxes on anything I withdraw. However, if I sell what I inherited and reinvest within the IRA (main holdings are VBIAX / VEIRX / VGHAX ) I won’t pay taxes correct? It’s only on withdrawals?

I plan on purchasing all VOO and taking annual withdrawals, just want to maximize potential gains in the meantime , if keeping it as is would garner negligible differences from selling and reinvesting please let me know.

Also there are a host of individual stocks (ABBV /ABT/ MCD mainly ) should I sell those and invest in VOO?