Yes. It's easy. We have never paid an estimated tax or tried to figure one. Each year in December we take IRA distributions totaling the safe harbor amount and specify 100% withholding. Both Federal and state. (
https://www.hrblock.com/tax-center/irs/tax-responsibilities/avoiding-underpayment-tax-penalty/) The key, as you point out is paying from a source of funds where you can have taxes withheld. IRA IOW.
RMD requirement has nothing to do with this. In fact, there is really nothing called an "RMD payout." RMD is simply minimum total amount that you must withdraw during a given tax year.
Too much work. Just make sure the total of the withholding satisfies one of the safe harbor rules. The distribution amount is simply part of the total IRA withdrawals that you will end up paying taxes on the following April 15.