You cannot upload a picture of your 1099-R. However, you may be able to import it if it is from a TurboTax partner. If you follow the instructions in the FAQ below you'll get to the 1099-R section and should see a screen like the screenshot I've attached. Here you'll have the option to import.
Please see this FAQ for instructions to enter your
1099-R: https://ttlc.intuit.com/replies/4194737
