I understand how the feature you're looking for would be beneficial to your business. Let me provide some information about Payroll Services features.
It depends on the Payroll service you subscribe to in QuickBooks Online (QBO). If you're using QBO Enhanced Payroll or Core, forms or taxes are automatically generated. Also, it calculates paychecks and taxes. Then, QBO will notify you when you can e-file and e-pay payroll forms/taxes on your account.
For more details about the features in this payroll plan, refer to these articles: