See this IRS Tax Topic for Underpayment of Estimated Taxes penalty to see if you need to pay estimated taxes for the 2023 tax return - https://www.irs.gov/taxtopics/tc306
Generally, most taxpayers will avoid this penalty if they either owe less than $1,000 in tax after subtracting their withholding and refundable credits, or if they paid withholding and estimated tax of at least 90% of the tax for the current year or 100% of the tax shown on the return for the prior year, whichever is smaller.
