Filing quarterly taxes

I have worked for Spark & DoorDash. I know that I have paid what I owe to the IRS for the 2023 tax year via the IRS direct pay website which was $57 however I did not finish filing for that tax year after doing so, hopefully that won’t penalize me. For 2024 from Jan 1st to May 5th I made a total of $2,866.72 working for Spark delivery, that’s without deducting expenses. For 2024 from Jan 1st to Mar 31st I made a total of $302.58 working for DoorDash, without deducting expenses. I no longer work for either of the companies & now have government employment which requires filing a standard W2. Should I be filing quarterly taxes for the money I made while working for Spark delivery & DoorDash? What tools would you recommend using in order to get a precise amount that I owe to the IRS & state? Thanks a million!