How do you know that voter fraud rarely if ever happens if you don't ask for an ID? Why does requiring an ID disenfranchise people? If people are prevented from getting an ID then surely the issue is that people are prevented from getting an ID, which is necessary for lots of important actions, and not that you can't vote without an ID? Making it about voter suppression makes it seem like the only thing that matters is that these people vote for the right party, and not how not having an ID impacts their lives.
And the problem is it disenfranchises people. As others mentioned, it really depends on what you want to prioritize on.