Underpayment Penalty based only on Withholding?

Response to my previous question this topic was not clear.

 

Is determination of Federal Underpayment Penalty based only on Withholding, AND does not take into account Estimated Tax payments?

 

In our case for 2023 Turbotax Form 2210 showed an Underpayment Penalty that took into account ONLY the withholdings (ignoring the Estimated Tax payments) even though the withholdings + Estimated Tax payments was more than enough and resulted in a refund!!

 

Is there a minimum of Withholdings required independent of Estimated Tax payments to avoid underpayment Penalty?