IRS rejected 2024 tax indicating the 2023 AGI is incorrect. The AGI for 2023 is $86,092 per our 2023 1040-SR. No changes to joint filing. What are we doing wrong?

Review this TurboTax FAQ and step back through the filing steps to re-submit your return.    Did you file with TurboTax last year?   If you filed late, you may need to use zero.  

Try entering 0 for the AGI. The IRS might have processed your return later so the AGI didn't get entered in time.  Especially if you mailed it.  That works for most people. See,
https://ttlc.intuit.com/community/rejections/help/what-if-i-entered-the-correct-agi-and-i-m-still-getting-an-e-file-reject/00/27031

How to correct the AGI in the Online version
https://ttlc.intuit.com/community/agi/help/where-do-i-correct-my-agi-in-turbotax-online/00/26311

If you can’t get it to efile you will have to print and mail it.
https://ttlc.intuit.com/community/printing/help/how-do-i-print-and-mail-my-return-in-turbotax-online/00/26258

Be sure to attach copies of your W2s and any 1099s that have withholding on them.  You have to mail federal and state in separate envelopes because they go to different places.  Get a tracking number from the post office when you mail them for proof of filing.