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Agile software requirements engineering processes enable quick responses to reflect changes in the client's software requirements. However, there are challenges associated with agile requirements engineering processes, which hinder fast, sustainable software development. Research addressing the challenges with available solutions is patchy, diverse and inclusive. In this study, we use a systematic literature review coupled with thematic classification and gap mapping analysis to examine extant solutions against challenges; the typologies/classifications of challenges faced with agile software development in general and specifically in requirements engineering and how the solutions address the challenges. Our study covers the period from 2009 to 2023. Scopus—the largest database for credible academic publications was searched. Using the exclusion criteria to filter the articles, a total of 78 valid papers were selected and reviewed. Following our investigation, we develop a framework that takes a three-dimensional view of agile requirements engineering solutions and suggest an orchestrated approach balancing the focus between the business context, project management and agile techniques. This study contributes to the theoretical frontier of agile software requirement engineering approaches and guidelines for practice. [ABSTRACT FROM AUTHOR]