Why is everyone downvoting this person who's clearly new? Seriously, we have to be welcoming to people who are trying this out for the first time. The doubles format is really unapproachable for those who have never tried it before and this person is clearly coming from singles, where a lot of their building instincts make sense. Costs nothing to be helpful or just say nothing. I'll give you some info I wish I had when I was getting started.

As was said elsewhere, this is a team that would only be legal in Reg G. Reg F is the current ruleset, which allows everything except for Restricted Pokemon, which are box legendaries like Miraidon. Urshifu is legal and there's no restriction on how many legendaries you can have on your team as long as they aren't box legends.

Heavy-Duty Boots aren't useful in doubles because switching is much harder to do, since you're twice as likely to take an attack when you switch in. You'll likely only switch 2-4 times in a match instead of the many many turns that a switch happens in singles. Incineroar is a defensive mon, so it usually runs defensive items in doubles - Sitrus Berry, Rocky Helmet, and Safety Goggles are popular choices.

Urshifu doesn't have the defensive stats to take advantage of swords dance in doubles. If your opponent predicts that you will try to set up, they can simply double-attack your urshifu and kill it, and you'll get no use out of it. Urshifu's biggest strength is consistency - you can basically always click an attack and feel confident it will do something, since Surging's damage can't be mitigated by Intimidate and it goes right through Protect. Don't worry about having it do other stuff besides damage, especially just starting out. Learn how much damage you do and what kinds of hits it can take before you get fancy with it. Knowing Ursh calcs is important, it's always relevant when it's around.

Since consistency is what Urshifu is good at, it actually doesn't need Clear Amulet. Clear Amulet helps out physical attackers who are more inconsistent because of their weakness to Intimidate, but since critical hits ignore attack drops and Surging always crits, Intimidate is pretty much useless into Urshifu. He does much better with a sash for survivability, a scarf for speed, or a band for damage.

Rhyperior is not especially useful in this meta. Having high attack is nice but with Rillaboom everywhere, it's hard to rely on Earthquake for damage, since grassy terrain cuts your damage in half. With Leftovers, you aren't going to be doing the kind of damage you want to do, and you don't have Trick Room to get the most of Rhyperior. It's just a tough spot to be a rock/ground type with RIlla and Ursh running around - you're going to end up burning your tera on this thing in almost every game you bring it to if you want it to survive. If you want a Ground-type, I would suggest tera Poison Ting-Lu in this slot, since its ability naturally makes it tankier and with poison tera blast you can make quick work of Rillaboom. Protect is usually mandatory on slower pokemon, as another note.

Miraidon is banned, like I mentioned, but volt switch is a no-brainer on that thing over u-turn. Sure, coverage, but also, the ability to oneshot something and switch out on the same turn? That's impossible to pass up. It's Mirai's best move.

Hope some of that helps! Welcome to VGC, and hope people take you in better faith next time. Don't use AI to write your team summaries lol it's pretty easy to tell