Paid Estimated Taxes but not filed 1040-ES, what now?

I'm a self-employed NRA and made online estimated payments last year via Debit Card, but I didn't file 1040-ES.
Now, what am I supposed to do, can I send the 1040-ES with payment confirmations together with 1040-NR forms? or is my money lost and I have to fill it out and pay the entire tax for 2019 with penalty amount??