Use the ArcGIS Survey123 Field App to submit the survey.
Use the pulldata() function to pull the latitude and longitude values into the two separate questions and then use the concat() function with these values for the calculation of the geopoint question:
Calculation for Latitude: pulldata('Intersections', 'Lat', 'IntersectionID', ${intersects})
Calculation for Longitude: pulldata('Intersections', 'Long', 'IntersectionID', ${intersects})
Calculation for Geopoint: concat(number(${Latitude}),' ',number(${Longitude}))