The fact that our government doesn't have the collective intelligence to just mail the tax bill using the information it already knows, with the option for the recipient to submit corrections/deductions, is a testament to the utter failure of governance in the US. Fortunately having an ineffective government can often be a feature instead of a bug.
If you're an eg. independent contractor, you have to fill out a full report (income, expenses, income tax already prepaid, benefits paid, etc.), but you also do it on a governments website and sign it using a digital certificate (that is free for citizens).
No 3rd party software, no paying anything (unless you have an accountant do that for you, but it's relatively simple to do it by yourself), and the most time-consuming task is calculating all the yearly earnings and expenses.