How can we find out what estimated taxes we paid in 2024? Is there a way to check with the IRS to see what they have recorded?

https://www.irs.gov/payments/your-online-account

Your payment will be shown in your tax account.

Go to this IRS website to sign onto your tax account - https://www.irs.gov/payments/online-account-for-individuals

There is.  You can log in or create an account at https://www.irs.gov/your-account then look under "payment activity" to see all payment activity, including estimated tax payments for 2024, efile payments, checks, etc.