How to set up W-4 for married filing jointly: 1 spouse is fulltime, the other has 1 pt and a side gig (self-employed).

My spouse has a full-time job (makes over 100K). I have a home business (<10K/year) and I just started a part-time job (~$23K/year).

We have 1 dependent under 17 and an 18 year-old and 20-year-old old that live at home, whom we support.

We have a mortgage and make 10% contributions to charity.

What is the best way to set up our W-4s so we don't owe taxes in April?

Getting some back would be awesome, but the priority is to not have to pay more than what is being automatically taken out from each check.