Yes, please click this link for the Safe Harbor rules from IRS Publication 505, page 25, the top of the third column. See page 22 for Who must pay estimated taxes.
If you pay all federal tax through withholding, you will not have to annualize your income, which reports income earned unevenly through the year. The IRS considers all payments made at any time during the year to be submitted timely when they are paid through your employer. This is not true of estimates, which are considered paid when received.
I recommend you use this IRS Withholding Estimator to verify that you have paid in the safe harbor minimum.
Here are additional resources for you:
Estimated Taxes: Common Questions
IRS: 2020 Tax Brackets
