Turbo Tax tells me I need a state ID on a form that is inside Turbo Tax titled Pensions/Annuities?IRAS Income Exclusion Worksheet. But we have no exclusions.

Go back and review your 1099-R entries.   One of them may have information in Box 16, which would require an entry on Box 15.   To review your forms, search for 1099-R and use the Jump to link.   Then click Edit next to each form to review your entries.  

Also, there are follow-up questions you have to answer after you enter all of your 1099-Rs (about disaster distributions).   Leaving those unanswered could create unnecessary forms in your return.   To get to the disaster questions, scroll down and click on Continue after all 1099-Rs are entered and/or reviewed.   The next screen will be about disaster distributions.  

If you are having an issue entering the state information from your 1099-R, please use the sign up link in this TurboTax FAQ to receive notifications on the progress of this experience.