How would you design a system where you do need an ID to vote without unfairly disenfranchising a lot of people? This is not an impossible question by any mean

How would you design a system where you do need an ID to vote without unfairly disenfranchising a lot of people? This is not an impossible question by any means. You can absolutely design such a system. But the differences between that hypothetical system and the real systems used in the US are important and instructive.