Found a solution to the following error that I was getting when trying to create a new record in a Workforce layer, whether I did this via Survey123, the Workforce Dispatch page, or ArcGIS Pro:
All of my existing (and the new) records had priority and other required domain fields filled in, so that wasn't the issue as the error indicated.
The fix was to create a new field, then delete the new test field. The layer allowed record creation after that.