This may be tough, but imagine that 20$ is the difference between eating for a few days or going hungry. Not everyone has the ability to eat small costs. Not everyone has the ability to go to a government location to pick up an ID during the workday. Not everyone has the ability to go online and figure out where they should even go to get an ID.
But those less fortunate have a right to vote that's every bit as valid as your's and mine. They should not have to sacrifice significantly more than we do to exercise the same constitutional rights. Furthermore, the impact of in person voter fraud is something on the order of tens of people per many millions of voters. Even in the Florida recounts, in person voter fraud would not have made the slightest difference. The impact of of voter ID's is more on the order of 1-3%. That's easily enough to swing a close election.
As this election unfolds, conservatives are starting to come around to the idea
that the center of the modern GOP is white nationalism. As this idea is further cemented, policies like voter ID which are
designed to disenfranchise minorities with almost surgical precision are no longer going to be excused as mere partisan electioneering. It's all going to be lumped into the hate and bigotry of white nationalism. IMO, even if your beliefs are altruistic, the racist stigma attached to voter ID laws just aren't worth preventing a level of voter fraud that you can count with your fingers. Especially when you consider that voter fraud with absentee ballots is far more prevalent, and is largely associated with white middle class families taking care of aging parents.