Congratulations!
TurboTax doesn't actually help you calculate your estimated tax payments. I'd recommend using the IRS Publication linked below. There are worksheets on pages 6 and 8 to assist you in accurately calculating your quarterly estimated tax payments.
Additionally, you'll see the 4 vouchers you've referenced. Please note that these forms are "form-fillable" and can be printed and mailed. There are other options, however, to make your payments. You'll see the other options within the publication.
https://www.irs.gov/pub/irs-pdf/f1040es.pdf
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