Try this
With Sheet1
In a spare Column,(assuming your data begins in A2 on both sheets).
=IF(ISNA(MATCH(A2,Sheet2!$A$2:$A$100,0)),"","Match found")
Drag/Fill down
Filter the result for "Match found"
You could add an extra sheet to gather the result if you need to retain the original tables.
Sheet3
In A2
=IF(Sheet1!$E2="Match found",Sheet1!A2,"")
Drag Across as required then Down
Where E2 is the first cell in your helper column on Sheet1.
Sort the result on ID then Filter out or delete the blanks.
Hope this helps
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