When you print out the PA forms, TurboTax will include a cover letter detailing how and where to pay. You can also get this by clicking on "Preview File Printing" before you print it out. If you're E-Filing, you can also select a preview copy to view. It includes the cover letter.
You are correct for all past years [2012 - 2019], but for this year [2020], no such provided instructions are provided. I know: I've printed out the PA tax forms.
From the PA Dept. or Revenue website:
PA Department of Revenue
Payment Enclosed
1 Revenue Place
Harrisburg, PA [social security number removed]