Yes, after the due date of the return (April 15, 2019), the date of withdrawal has to be the same date you file. If you don't want that date, you can choose to pay by check so you can file your return. Then for Federal taxes owed you can make your payment online on the IRS website. A penalty & interest does accumulate until the taxes are paid in full.
https://www.irs.gov/payments
If you owe State taxes you can go to your state to pay online.
