Vlookup with closest matchng date

Hi guys,

I am using a vlookup to match dates between two sheets, the issue is that there are multiple dates/ rows of the ID i am matching with. I am Comparing 3 sets of dates with 3 others on another sheet. I do not necesarrily need the max or min date its more on if the ID matches, and the first date matches then extract the second date. At the moment 75% of the dates it extracts are the correct ones to compare and the rest are duplicates which have three completely different dates.

I have attached a file to show what i mean and what i need extracted... Essentially if someone can show how to do a vlookup or match 2 Cells/Columns with two others AND then extract data i think that would work.

Thanks