ID requirements for voter registration is clearly spelled out in the HAVA act of 2002, sec. 303.
If a simple photo ID was all that is required and everything possible was done to insure someone acquires said ID, I believe there would be very little pushback. It's all the garbage attached to these ID bills that cause some to not be able to comply or very difficult to comply, is what has people up in arms.
Making it easier for every eligible voter in the U.S. to vote should be the goal, not erecting hoops and hurdles to discourage even one eligible voter to become discouraged from voting.
Here's an investigation that found 31 credible incidents out of one billion ballots cast.
A comprehensive investigation of voter impersonation finds 31 credible incidents out of one billion ballots cast - The Washington Post
That's a fraud rate of 0.00002%. Is that worth it if it causes even one eligible voter to not be able to cast their ballot?