In theory it should not be hard for everyone to have some form of ID. In practice, there are a lot of efforts at making it too hard for people. Students, for example, get IDs for their current address, even though that is a temporary address. However it may be the legitimate address for voting purposes. These voter suppression acts often invalidate those IDs. Municipal governments, who should issue a resident ID to anyone, often make it expensive or onerous to get one. IDs that should be considered legitimate for any public purpose are often rejected by election officials.
So in theory it should be easy, but it will only be easy if the feds crack down on these municipalities and force them to make it easy.