We paid off the mortgage at my fiancé's house then sold it. I cant speak to using IRA's etc, but it felt great to be rid of that debt and then plan to purchase a new home with cash!
One thing we didn't think of, was that when you sell, there's additional paperwork to be done if you own (and recently paid it off). Usually you get get forms from the bank, but now they have to come from the town and that was delayed with COVID...
I still would pay off the debt, just know that you may need to do an extra step when you sell.