I am being hit with an underpayment tax penalty. If I plan to submit a waiver request, should I still include it in my tax filing & pay the penalty now?

If so, would I be soliciting a refund for the amount from the IRS? If I don't include the penalty in my filing, is the penalty susceptible to accrue interest while I wait on the waiver request decision? How do I submit Form 2210 with my electronic filing through TurboTax online?