The word "intrinsic" has been mentioned a lot without explanation of what it means. Using the example of position and momentum, here is a different look.
Momentum is the product of relativistic mass times velocity. Velocity is the rate of change of position. To measure the momentum of a particle precisely, you have to at least measure it's velocity precisely. But you can not measure velocity at a single point. You need to measure position at least 2 points and divide by the time it took to travel between the two points. The further apart the two points are, the more accurately you can determine it's velocity but then which of the points do you attribute measured velocity to? Point A, B, or between both points (don't forget uncertainty due to potential acceleration and deceleration)? The further apart the points, the higher the uncertainty associated with the velocity (and thus also the momentum). The smallest distance between two points is the Planck length, so that is the highest accuracy (smallest uncertainty) you can have for a position to assign to the velocity measurement.
Therefore "intrinsic" uncertainty between position and momentum is due simply to the fact that they are mathematically defined in a complementary manner, momentum being defined relative to the rate of change of position, ie momentum and position are not defined within the same basis. In short, the uncertainty between position and momentum comes from the fact that the definition of momentum involves the behaviour of a particle over more than one position. This is what "intrinsic" means.