Under what circumstances does the IRS require a taxpayer to file quarterly estimated taxes? I worked a normal job for several years and always withheld enough through my paychecks so that I never had an under-withholding situation. But then one year, I made some extra investment or "other income" and I ended up with not having enough withheld and not meeting any of the safe harbor requirements to avoid a penalty (that is, my withholdings didn't meet the 90% threshold for current taxes owed nor reaching 100% of prior years taxes paid). So I simply paid the required penalty to the IRS and then resumed my life. I did NOT initiate filing quarterly estimated taxes, and the IRS didn't complain.
After more years of withholding enough I had a similar year where some extra unexpected income put me into au under-withholding situation and again I just paid the required penalty with my return and didn't start quarterly filing.
So my question is, at what point does the IRS actually step in and REQUIRE a taxpayer to make the quarterly payments? Again, I'm not talking about someone who is self-employed or living on investment income or anything like that, but just a normal taxpayer who has a year every now and then where he doesn't withhold enough.