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If you have an untitled 1099-R, it is likely that you inadvertently added an incomplete 1099-R by starting it, but not finishing it.
Go to Federal->Wages & Income->Retirement Plans and Social Security->IRA, 401(k), Pension Plan Withdrawals (1099-R) and look at the table of "Your 1099-R Entries".
If you see an entry that is untitled, that's what the message is referring to.
If you see all the 1099-Rs that you meant to enter and an additional untitled 1099-R, then delete the untitled 1099-R (on the right).
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