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The recent form you created can be your default template for estimates. Let me show you how.
Learn more about your created sales form templates with this article: Customize invoices, estimates, and sales receipts in QuickBooks Online.
Additionally, I've also included this helpful article for the steps in creating an invoice after your customer accepts the estimate: Convert an estimate into an invoice in QuickBooks Online.
If you have any other questions, please let me know in the comment below. I'll be here to help. Stay safe!