As you're planning to peg out eventually, you can name your daughter as the beneficiary to receive any value remaining in your pension fund after your death.
If you are not yet retired, and not in poor health or a smoker, you should have a 10-20 year horizon in your plans for your investment to grow, and for you to draw from it.
You are not obliged to take an annuity* and can take partial encashments at irregular intervals, according to your needs and desires. Of each of these, 25% will be tax free, and 75% will be taxed at your current rate. Due to a quirk of the tax laws, your first such encashment may be taxed at a higher rate, because the tables assume that you will be taking the same amount every month for the rest of the tax year.
So if you take an encashment of £1333 in April, a quarter of it (£333) will be tax-free, and the rest (£1000) will be taxed by PAYE on the assumption that you will have eleven more withdrawals this tax year. Eventually, you will get a tax code that reflects your real annual income, and can reclaim excess tax paid. Your pension income will affect your entitlement to income-related benefits. With encashments you can alter the amount of pension income if you wish.
*Some pension companies, but not the II SIPP, will not allow encashments after age 74.