Should I pay an estimate tax to California if I sold my rental property with a 3.3% tax withholding?

The house was sold in May 2018. I calculate my long term capital gain tax for California is about $100k (at California effective tax rate 10.47%). There is a 3.3% CA withholding that I paid (withholding $61k) when the house was sold. Do I still need to pay the difference as estimate tax (i.e. $100k - $61k) to avoid underpayment penalty? The initial value of the house is about $720k and the sale value is about $1.85M. I own the house for more than 5 years but never live there.

My regular yearly income is about between $150k to $200k.