In the Pennsylvania interview, if TurboTax determines that you will likely need to pay estimated taxes in 2020 based on your 2019 data, then you will see a screen with the heading "Pennsylvania Estimated Taxes for 2020".
This screen will appear if based on your 2019 data, TurboTax believes that you will need to pay estimated taxes in 2020.
If you can't persuade TurboTax to print the vouchers, then you can go to this PA webpage to calculate your estimated tax for 2020, and this PA webpage to enter the data per quarter, then print and mail the estimated tax.
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