Turbotax S-E for 2020 can give you an approximation of what you would owe for 2021. like what happened for 2020 there can be tax law changes later on that would change the amount of estimated taxes you need to pay. it's up to you to make the payment. you can make the payment without filing 1040-ES by using the IRS payment site. see link below and make sure you select estimated taxes for 2021
by the way you can avoid penalties if any of the following apply (I assume $0 in withholding)
1) 2020 tax liability was 0 = no estimates required
2) estimates = 90% of 2021 tax
3) estimates = 100% of 2020 tax (110% if 2020 adjusted gross income over $150,000)
https://www.irs.gov/payments
