Yes, if you owe more than $1,000 when you file your tax return, TurboTax will generate 1040-ES vouchers for you. They print in some other situations as well, but that is the most common one.
Making estimated payments is always voluntary and any vouchers that TurboTax generates for you are for your convenience only and won't get transmitted to the IRS with your tax return. They are provided to help you avoid underpayment penalties.
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