TurboTax will include it, but you need to go through the penalty section in TurboTax and answer the questions to generate the form. To ensure the form is included, search for penalty and use the Jump to penalty link. You will be taken to that section where you can tell TurboTax to apply a waiver request. How do I add Form 2210?
Note: If you see No Underpayment Penalty, you either haven't entered your income and/or estimated tax payments yet, or you aren't subject to an underpayment penalty.