Yes, you are correct. If you're filing Form 2210, Underpayment of Estimated Tax by Individuals, Estates and Trusts and paying underpayment penalty along with your return, you'll need to wait until the form becomes available so you can e-file it together with your tax return. Once the form is released, there won't be an error message.
According to our most current information, Form 2210 is set to be released for e-file on February 25. Here is a link that has updated information about forms and release dates.
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