Yes, there are several situations where an Underpayment Penalty will be waived.
No, the IRS is aware that many of these situations exist, and if they determine that you owe an underpayment penalty, they will send you a bill with their explanation.
No, TurboTax Efile doesn't support attachment of an explanatory statement in this case. You would have to mail your return to attach such a statement. You could delete Form 2210 from your return and Efile.
From IRS Form 2210 Instructions:
"Use Form 2210 to see if you owe a penalty for underpaying your estimated tax. The IRS will generally figure your penalty for you and you should not file Form 2210. You can, however, use Form 2210 to figure your penalty if you wish to include the penalty on your return. There are some situations in which you must file Form 2210, such as to request a waiver."
Here's more info on Form 2210 and IRS Instructions for form 2210.
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