After you file

Made a mistake on my W-4 and filed Exemp. I am paying now the taxes I owed the federal government in 2019. However, I didn't notice the mistake till yesterday so my 2020 Tax Returns so I'd like to avoid another large amount of money being due next year.

 

Is there anyway I can proactively pay for the amount of taxes I've missed in the past 6 months of 2020? Essentially tru-ing up.