Should I ask for underpayment penalty waiver?

I owed taxes on my Federal taxes for 2022, and I paid them without any underpayment penalty. This year, Turbotax indicates I might owe an underpayment penalty. 

 

Part of the reason is that I got some shares that vested this year, which bumped up my W2 wages. This is my first ever vesting so I didn't know about this. Should I claim a waiver for an underpayment penalty based on my first ever experience with vesting? or is this just going to create more problems for me?

 

Also, I have zero allowances on my W4 so I don't know what I can do to avoid this underpayment in the future?