If a dependent or qualifying person listed on your return has ever received an IP PIN, a CP01A notice, or opted into the IRS's IP PIN pilot program, that person's special 6-digit IP PIN needs to be on the return to validate their identity for e-filing.
Just FYI
I was able to enter my dependent's PIN by navigating to the "Federal Taxes" -> "Other Tax Situations" screen.
Pressing the "Fixit Now" buttons did not provide any help.
Follow these instructions to enter your Identity Protection Personal Identification Number (IP PIN) or to remove an IP PIN that you accidentally entered.
These instructions from @BrittanyS above only help if you are entering tax payer and spouse IP PIN, not dependent.
As noted above, you need to go to "Federal Taxes" and "Other Tax Situations," and under "Other Return Info" start "Identity Protection Pin"