2024 Estimated Taxes

I am concerned that I might have to pay a penalty for having missed the 1st 2024 estimated tax payment, because I did not see that Turbo Tax had calculated quarterly payments for me.  For the 2nd estimated payment,  I  paid more than 5 times the amount on the voucher to my IRS account.  For the 3rd voucher I paid more than 3 times the estimated payment, and for 4th voucher I will pay more than 3 times the the amount on the voucher. These payments will more than cover the tax due.  Will I have to pay a penalty for missing the 1st payment?  If so, how can I figure out how much it is?