The HOA and taxes and insurance (escrow) are your problem to deal with. Modifying your mortgage will only deal with your principal & interest (P&I). It is effectively impossible to get a mod if you are on an interest-only loan (don't know if you are, but if you are, there it is).
Any loan modification process will require income.
Taking funds from retirement when you are not of retirement age will subject you to taxes at your current rate and a 10pct penalty against what you take out, and doing so is almost always simply draining your retirement savings to only, at best, delay the inevitable.
If you are single with no kids and can live simply in an apartment, you could let your place go and be back to mortgage-ready (at least on your credit rating, income notwithstanding) in 3 years + however long it takes for the home to actually not be yours any more (the duration of the foreclosure).
The "high" on the ratio these days on new files is 31pct spent on housing (that includes escrow items), and for that you must have excellent credit and a hefty down payment. There effectively is no more no-doc or low-doc, you must show an extended ability to pay. W2 income.
You just have to work the numbers. But if you do not have sufficient income to show ability to pay, you will not get a mod. They might pretend to put you through the process but it will ultimately be denied. Then you will be directed to short sale. Then deed-in-lieu. You have to decide whether your residence is affordable to you in the long term (length of the mortgage) and decide based on that whether it makes sense to stay and pay at your current terms, or to let it default now.