Whether or not your Social Security income is taxable depends on your total income, including your Social Security plus any other income (such as your W-2).
Since you have additional sources of income, the key figure is the Modified Adjusted Gross Income (MAGI). The MAGI includes half of your Social Security, plus other sources of income. Once your MAGI exceeds the base amount for your filing status ($32,000 for Married Filing Jointly, otherwise $25,000), at least part of your Social Security income becomes taxable. The taxable portion of your Social Security income increases once you reach additional MAGI thresholds.
To determine if your Social Security income is taxable, all you need to do is enter that income. TurboTax will calculate everything for you.
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