Generally, if you owe less than $1,000, you do not have to pay quarterly estimated tax payments and will not see an estimated tax penalty. If you pay at least 90% of your tax obligation or 100% of the tax owed in the prior year (whichever is smaller), then penalty can be avoided. If you are a high-income taxpayer, with an AGI over $150,000, then the 100% is increased to 110%.
For more information, see the following TurboTax article:
Estimated Tax Penalty Explained (How to Avoid Penalty)
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