Yes, you should be able to access the underpayment penalty worksheet (Form 2210) in the TurboTax Online version. However, the forms may not show if you didn't complete the Underpayment Penalty questionnaire.
Select Other Tax Situations from the left side menu, and look for Underpayment Penalty under Additional Tax Payments. Go through the Underpayment Penalty section and answer all the questions. This should ensure that the forms appear in your return.
Navigate to Tax Tools on the left menu, select Print Center, choose Print, save, or preview this year's return, and select the option to Include government and TurboTax worksheets. You will need to have paid for your Online product in order to print these forms.
See this help article for more information.
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