What Triggers Underpayment of Estimated Taxes

Hi,

This is for New York State taxes.

What triggers "Underpayment Of Estimated Tax By Individuals and Fiduciaries?

I've never estimated my taxes and I can't see in TT why this form printed out. Also 4 Estimated Payment Vouchers For Individuals for 2021 printed out as well.

My 2020 New York Tax Return Summary says: Payment Due $392...I get that, then a Penalty/Interest  of $7.

Also in the bottom Box of the Summary page is a schedule for four vouchers to be paid in 2021...saying this is my New York Estimated Payment Vouchers for 2021?

Why did this happen? I was just going to have the money I owe for 2020 taken out of my account.

Any insight would be helpful and appreciated.

Thanks for your time.