Do I have to pay interest if I wait for the state to bill me for underpayment penalty for the California estimated tax, instead of paying the penalty with my tax return?

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Yes, waiting for them to bill you may not be the best approach, as it could lead to additional interest and penalties. The state will pick a date for you to pay by and give you a bill based on that date. You can make payments online. Pay | FTB.ca.gov

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