Quarterly tax payments in 2020

I just completed my taxes on 4/23/20 for 2019 tax year. This is the first year I owe taxes. I was no longer able to claim one of dependents. Turbo tax printed 4 payment vouchers for 2020, with the first one due on 04/15. Since it is already past that date - will I be penalized since it is now gong to be late? Should I pay it now? Is there a way to avoid a late fee given the extension in the  filing date for this year due to COVID19? TY