First of all are you using the Online web version or the Desktop installed program? Then try searching for W4 (not 1040ES)
Search by typing in W4. Hit the Enter or Return key to get the Jump to w4 link to show up. Go to the W4 page and it will ask if you want to Change your W4. Click on NO. The next page will start the Estimates.
See my screen shot on this post,
https://ttlc.intuit.com/community/taxes/discussion/re-federal-estimated-taxes-for-2021/01/2199266/hi...
OR go to
Federal Taxes or Personal (Home&Business version)
Other Tax Situations
Other Tax Forms
Form W-4 and Estimated Taxes - Click the Start or Update button
Say No to W4. When you get to the W4 and Estimated Taxes section, say you want to adjust your income to go though all the screens.
