If you are penalized, the accuracy claim form is below.
However, since you have a 5 day grace period to resubmit a rejected return and not be counted late, I suspect your claim will not be honored. Turbotax did tell you that your return was rejected, it would have been on-screen if you logged in to check your account, and you did get the email.
At this point, the penalty should be 5% of the amount you owed (combined penalty for filing and paying late by one month or less). When you get the notice, and if this is the first time you owed a penalty, you can request an abatement from the IRS.
https://www.irs.gov/businesses/small-businesses-self-employed/penalty-relief-due-to-first-time-penal...
Or, you can send the penalty notice to Turbotax. I think you are likely to have more success with the IRS, in this case.
https://ttlc.intuit.com/replies/4202723
