Since it would seem that your 2019 adjusted gross income was more than $150,000 you can avoid underpayment penalties by having your withholding equal or exceed 110% of your 2019 tax.
other exceptions to this penalty are if withholding equals 90% of 2020 tax or if the balance due after withholding (not estimates) is less than $1000.
the problem with paying estimates at this late date is the standard way penalties are computed is to spread withholding evenly over the 4 quarters but use the actual dates of estimate payments to determine which quarter they fall in. The IRS also allows you to use the actual withholding for each quarter but it won't help unless there was more withholding in the early quarters than in the later quarters. as a final method there is the annualized income method where you determine actual income, deductions, withholding and estimates for each period - 3 months, 5 months, 8 months and the full year.
