@ltsmd
"if the RSUs were already reported on the W2 and taxed, do we also need to enter the information again from taxes taken out from the sale for both federal and state?"
No. The vesting of the RSUs created compensation. The compensation created the need for withholding. I assume by "the sale" you're referring to shares sold to fund your portion of the withholding. If that's correct then the cash raised by this sale was handed back to your employer, who paid the governments, and included those dollars in the various "taxes" boxes of the W-2. You can't somehow report these taxes again.
"Would federal taxes withheld include social security and medicare? "
The compensation created by the vesting of the RSUs is subject to all the regular withholding requirements, just like cash compensation.
