In early Nov, my wife took an inherited IRA distribution, withholding 10% for federal taxes. TurboTax says we, filing jointly, have an underpayment penalty. True?

Vanguard said we needed to withhold 10%, which we did. We also took the distribution in the last quarter of the year so couldn't pay any additional estimated taxes before year end. Not sure why TurboTax is saying we own a penalty.