Should I pay 2019 estimated tax if my employee withhold taxes from my paycheck?

Turbo tax calculated 2019 estimated tax payment and I never had to do this

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You mean if your employer withholds taxes?

Turbo Tax is very conservative and doesn't want you to owe next year. They might have printed out if you got a big one time increase in income. like if you took a IRA or 401K Withdrawal or had a big stock gain. They are optional to pay. They don't get sent in with your tax return so the IRS won't be expecting them. You can ignore them.