Underpayment penalty safe harbor

Used TT Premier for my 2018 returns. It was an unusual year because we sold property that produced a big taxable gain.  Total tax was $40,247 and TT had us make four estimated payments for 2019 of $723 each which we paid when due.  Now on our 2019 returns, our tax is $6,245 less our estimated payments of $2,892 for a balance due of $3,446. BUT, TT estimates we owe an underpayment penalty of $93. Should the estimated payments that TT had us make avoid any penalty?  (Our 2018 TT instructions say " if you do not make these four estimated tax payments, you may incur underpayment penalties"  leading me to believe if we do make them we will not incur penalties).