No, estimated vouchers are not required, but will print out based on the calculated guidelines if or when there may need to be additional tax payments to avoid underpayment penalties.
If you are receiving state estimated tax vouchers, it is estimated that additional taxes may be due next year. To avoid a balance due next year, you may choose to pay some, all or none for tax planning.
https://ttlc.intuit.com/replies/3301872