You not only have to pay the IRS the full amount of taxes owed, you need to pay it evenly through the year. Most people accomplish this through withholding from a paycheck, but if you are retired and getting money from investments, you need to make estimated tax payments four times per year.
If you owe the IRS more than $1000 in taxes and did not withhold or pay as estimated taxes more than 90% or 100% (depending on your income) of the amount of your tax owed last year (the so called "safe harbor" amount), you will be subject to an underpayment penalty by the IRS (in addition to the taxes due).
Suppose it is getting close to the end of the year and you realize that you are going to owe the IRS $3000 next April and are not within the safe harbor.. You cannot solve the problem by making a $3000 estimated tax payment by January 15th, because the tax needs to be paid when required through the year, not at the end. It can be complicated, but let's just say you should have paid $750 on each of the estimated tax dates. Even if you paid $3000 on January 15, 2023, you will still owe penalty interest on each of the $750 amounts you didn't pay on April 15, June 15 and September 15, 2022.
The way to solve your problem is to take money from your tIRA before the end of 2022. In this case $3000. But, instead of you getting the money, you direct the custodian to withhold it all for federal taxes. (I ignore state taxes for the sake of this illustration). Unlike estimated taxes, withholding is considered to occur evenly throughout the year. So you will not face penalty interest for failure to properly pay estimated taxes.
When I was working and saw near the end of the year that I would owe a large tax bill, I would get my payroll department to jack up my wage withholding in November and December to cover it, for exactly the same reason - withholding, even if done in the last month of the year, is considered to have occurred evenly through the year.