Here is a wider shot of similar growth.

Citrus do that, send up odd shoots at strange angles. If it's from the scion and in a position you like then keep it. If you don't like it so much train it to another spot or cut it back. Mine look the same way.

I'll keep that in mind. These rapid shoots make my citrus tree look like it's having a bad hair day!

From what I've read on citrus, mostly prune away lower branches that will hit the ground.

Those upright shoots will become less upright over time, especially when heavily laden with fruit, and will gradually droop outwards.

If the tree is getting too tall, go ahead and prune for size & ease of harvest, but I don't think there's anything wrong with those shoots.

Great, thanks all for the advice!