Yes, you should include the estimated payments that you made last year in your 2020 tax return. To get to that section, type estimated taxes in the search box from the Federal tab, and then Jump to estimated taxes. The software will ask you for the amounts and the dates.
You might get money from your estimated payment back if they caused your tax liability to go down. If you had to pay estimated taxes last year, it would have been due to not having enough withholding taken from your paycheck or a similar reason. As long as that is not an issue again this year, you will not be required to make the estimated payments again. TurboTax will help you figure that out.
Here is a TurboTax article about estimated taxes.
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