I wouldn't advise borrowing against your future self to cover current expenses.
First that $8,000 is going to be less after a 10% tax penalties (on earnings only, not contributions), plus it will count as income further reducing the net amount you can use to pay down debt.
Second, do you realize that if you leave it invested and get typical 7% annual returns on that IRA account it will be $97,788.95 by the time you are ready to retire at 65? Do you really want to spend almost $100k now to wipe out a $10K debt?
Third, you need to think of it as borrowing from your retired self, who will likely have a fixed income and less desire to go back and work to get extra money. You are better off working extra to pay the debt now while you are young and have an easier time doing it.
Fourth, it is easy to start bad habits thinking of your retirement savings as an emergency fund. Better to instill that discipline in yourself now.
My suggestion would be to cut back on spending and find a side gig to pay of the debt. Don't touch retirement funds except in an extreme emergency where you are going to die or be homeless.
Editing my answer. Didn't notice it was a Roth