The error was partly mine, but a program "feature" hid it...
I went back to Federal Taxes and looked at the Tax Payments Worksheet. For the 4th state tax estimated payment date, it showed 02/02/20, which is correct. However, when I tried to re-enter it to see what could be wrong, it displayed 02/02/3020. By hiding the first two digits of the year, TurboTax hid the error!
The fix was then simple: retype the date as the correct 02/02/2020 (which still displayed the same 02/02/20). The date was no longer highlighted on the Tax Payments Worksheet and no longer flagged as an error when checking my Maryland tax form.
This is a dangerous program feature! Hiding the first two digits of the year after entering the (wrong) four digits, so that one cannot spot the error visually!