This error does appear to be the result of a corrupt rendered file, either in the video file itself, or in the xmp / xmpses files that accompany it.
We recently had a customer who encountered this error with a motion menu, so it read slightly different:
BlurayObject "<Menu 01_Main _HD error: "Invalid time" Code "24", note start exceeds stream duration>
We had them go into the '/Sources/Menus/' folder and delete the rendered motion menu that was giving the problem in the error message. This consisted of an m2v, xmpses, and xmp file. Do not delete the PSD file of the menu.
We also had them delete all the files associated with that menu in the /AuthorScriptHDMVSessions/ folder. This folder will only exist if you attempted to build a Blu-ray disc.
Removing those files and having Encore re-render them resolved the problem.
I understand this problem does not always occur with a menu, but if you do encounter it, it certainly seems to be caused by a corrupt transcoded file or accompanying xmp file.
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