The IRS does not appear to require ID in order to e-file, although they do encourage it. I do not believe that the IRS is equipped to handle a military ID for e-file.
The State of Pennsylvania says:
"Reminder: As part of a national effort by states to combat stolen-identity tax fraud, software programs are asking tax filers to provide their driver's license number or state-issued identification card number with their filing. Providing this information gives the Department of Revenue an extra security measure to help prevent refund fraud related to identity theft. Your return will not be rejected if you do not have a driver's license or state-issued identification [emphasis mine]. Providing the number is strictly voluntary and may help speed the processing of your return."
Have you tried e-filing without entering any ID? It may slow your refund processing a bit, but should not stop you from e-filing.
[Edited 3/15/2021 4:26 PM CDT - I added the IRS info at the top]
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