First, put in all those ES payments with the correct pmt dates, regardless of the quarter, as 1-2-3-4.
Then in the fill-in quick-navigate box type "LATE" and check the 2nd box - "Calculate penalties and interest on this return." The interest will only calculate if you have - outside of the return - gone to Setup --->Options ---> Optional Items on Return screen and checked the box at the bottom "Automatically calculate penalties and interest on returns filed after the due date." It seems that as of 2022, you no longer have to manually enter the interest rates the IRS uses in this section. That's a bonus for us!
Hope that helps.