1. is voter impersonation extraordinarily rare? Yes. False. People getting caught doing it is rare and since catching it is extremely difficult, there is no way to know the frequency in which it takes place.
Yes, in absolute terms we can't know EXACTLY how often it occurs, but we have over 200 years of elections and many many concerted efforts to uncover election fraud and they have unieversally failed to uncover a serious issue with voter impersonation -- at least in the modern era. Again -- this is the starting point. If you can't demonstrate that there's a problem, and you can't, then you don't get to B.
2. has voter impersonation ever been shown to change the outcome of an election? No. Since catching it is extremely difficult, there is no way to know whether it has actually effected an elections outcome or not.
See above. You can't formulate a law based on something that you haven't shown to be a problem. I could just as well posit that elections are being influenced by undetectable radio transmissions from Russia, so we should install tinfoil shields around all polling places.
3. do voter ID laws disenfranchise millions of people who would otherwise vote? Yes. False. That is an opinion on your part based on speculation, not something that has been determined factual based on substantive evidence.
It is an opinion based on numerous studies of states that have and have not passed voter ID laws, comparing before and after participation rates. It is perfectly valid to base policy decisions on this sort of data. We do it every day in government and in the private sector.
5. are they actually nothing more than a transparent attempt to suppress the Democratic vote? YES. That is a baseless accusation motivated by liberal/progressive political beliefs, that's totally vacant of facts or substance.
It certainly is not baseless. The basis is that these laws are universally pushed by Republicans and Republican lobbying groups, and opposed by Democrats. It's based on the fact that the people who lack the required ID are predominantly in voting blocks that tend to vote Democratic. And thus, it's based on the fact that these laws tend to suppress the Democratic vote, which would obviously benefit Republicans. And finally, it's based on a clear pattern of Republican efforts to deter Democratic voter registration and to generally make it more difficult to vote.