If your income for 2020 has returned to the same or lower levels as you had prior to 2019, then you would not need to make estimated tax payments this year if you hadn't needed to in those previous years.
Estimated tax payments are needed when a sizable portion of your income is not taxed at the source, unlike W-2 wages. This additional income often takes the form of dividends and interest and stock and bond sales.
Full details of federal estimated tax are given in IRS publication 505
https://www.irs.gov/pub/irs-pdf/p505.pdf
In addition, states that collect income tax have estimated tax requirements.
