Our target is to be +/- $50 in federal taxes each year. It's easy for us; DW still wo*ks - I'm retired.
I simply have 10% taken out of my monthly TIRA withdrawal which is sent by VG/FIDO directly to the government each month. In mid-December (before I do my monthly expense/tax withdrawal), I get the updated TT software and do an initial tax estimation for the year based upon actual income/tax paid for DW/me, along with what DW's income/taxes are for the next two weeks - end of year.
At that time, I'll have the appropriate tax taken out of my December TIRA withdrawal to adjust to our $50 target.
This has worked for the last four years of federal taxes due, as related to my retirement. Luckily, we don't have to worry about any state/local tax. There is none for me and my DW has her taken out of her pay. In our state, you pay the tax on all your income while still employed. There is no deduction for TIRA/401(k) contributions. However, in retirement you don't pay tax (since it’s been paid already). The only advantage to this system is that if you have any gains in your TIRA/401(k) funds, they are also not taxed.