Yes, as long as whatever you have withheld in Q4 is enough to meet one of the safe harbors (generally 90% of your 2021 tax liability or 100/110% of your 2020 tax liability).
States also sometimes have payment requirements, so you should check what your state rules are to see how that may apply to you.
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"At times the world can seem an unfriendly and sinister place, but believe us when we say there is much more good in it than bad. All you have to do is look hard enough, and what might seem to be a series of unfortunate events, may in fact be the first steps of a journey." Violet Baudelaire.
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