In the program, click on the Federal tab. then look to the right and click on the Other Tax Situations tab. Follow the list down until you find the Underpayment of Estimated Taxes line and select to start that line. (You might also see Update.)
In this section of the Turbo Tax interview, you will be asked questions which may lower penalties on your return. This will generate a Form 2210 which calculates the penalty and also is the form on which you request penalty waiver.
