As long as you have $5500 (or the exact number from last year) of withholding or quarterly estimates done thru the year, there will be no underpayment penalty (and no form 2210 to do), if you wait until you file to pay.
However estimates and withholding are treated slightly differently, for timing. Your quarterly estimates of $5500/4 = $1375 should be made equally during the year. That is you should have paid , at least that much in April and again by June 17.
But, as long as you total $5000, the penalty will be small, but you'll have to do a form 2210.
