In this paper, we study p-tuples of bounded linear operators on a complex Hilbert space with adjoint operators defined with respect to a non-zero positive operator A. Our main objective is to investigate the joint A-numerical radius of the p-tuple.We established several upper bounds for it, some of which extend and improve upon a previous work of the second author. Additionally, we provide several sharp inequalities involving the classical A-numerical radius and the A-seminorm of semi-Hilbert space operators as applications of our results.