I must call within 24 hours to avoid legal action from the IRS.

This is a fraudulent call. Don't return the call instead review the IRS information on how to remain vigilant against this type of fraud.
https://www.irs.gov/uac/Stay-Vigilant-Against ... alls-and-Emails

Follow the link to report this and hopefully they'll get shutdown quickly.

Said I was going to get arrested if I did not resolve a tax issue. They had me going for about 10 minutes. Gave me badge numbers and even transferred me to someone to resolve the issue. I looked up this number while I was speaking to them and told them I was going to report them. They said ok goodbye. Scam! Do not give them any info!

Digital voice saying from IRS.  Scam.  They don't make calls!

Call from IRS regarding tax audit. Bogus.