If you're using the Core, Premium, or Elite payroll plans, you have an option to automate your tax payments. Actually, it's enabled by default. Let's check your settings to see if it's still enabled.
Click the Gear icon.
Choose Payroll settings.
Click the Pencil icon in the Taxes and forms section. If the Automate taxes and forms checkbox is unchecked, you can tick it.
I would also recommend checking the other sections in the Payroll Settings to see if your company or tax information is correct. Here's an article for your additional reference: Manage automatic tax payments and form filings.