You cannot actually "file" your quarterly estimated payment thru TurboTax. TurboTax can prepare the vouchers (IRS form 1049-ES).
In your 2020 software, enter at:
Federal Taxes or Personal (H&B version)
-Other Tax Situations
-Other Tax Forms
-Form W-4 and Estimated Taxes - Click the Start or Update button
On the next screen answer No to the W-4 question
If your goal is just to avoid the underpayment penalty, then paying 100% of the prior year tax liability is the “safe haven”
See ColeenD3's reply for how to actually file the vouchers.
