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The IRS sets a rule to whoever make quarterly tax payments. Usually, you must pay if you expect to owe $1000 or more in taxes by the end of the year. If you expect less, you might only pay at the end of the year. Or, IRS may not require payments if the income is very small.
If your schedule is quarterly and made a payment late, IRS charges a daily penalty starting from the day your estimated taxes are due until they're paid. The penalty is about 6-8% annually. To calculate any penalties or request a waiver, you can use the IRS Form 2210.
For additional information about paying estimated taxes, you can check out these articles:
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