The IRS will still charge interest even if a penalty abatement is granted. There is no provision to waive the interest on your tax payment.
If you've always filed on time and have not requested penalty abatement before, then approval is automatic once you request it. The IRS won't apply it if you don't make the request, but they won't turn down a "First Time Abatement" request for a taxpayer with a history of good tax compliance.
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