Do I need to send forms with my payment voucher and check if I have e-filed?

No.  Since you e-filed the 2021 tax return all you need to do is mail the payment voucher, Form 1040-V, with your check for the federal taxes payment.

No other forms are required.

No, just the voucher and the check.  If the check is not for the amount on the voucher change the amount on the voucher manually.  Just remember you need to fix it in TT next year.