When looking online, I found a PDF for the 1040-ES but it does currently say it's undergoing revision so the 2020 version is not yet available. Please see this note:
"Caution: The form, instruction, or publication you are looking for begins on the next page. But first see the important information below. This form, instruction, or publication is being revised to reflect legislation enacted December 20, 2019. The updated revision will be posted here as soon as possible. We apologize for the delay and inconvenience. The most recently issued final revision begins on the next page, but, again, is currently being updated."
Here is the link to the form: https://www.irs.gov/pub/irs-pdf/f1040es.pdf
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