The key difference between these is consequence. Voter fraud has never made a difference in the USA for the simple reason that is is not co-ordinated, except in the imagination of Trump and his most fervent followers. Trump certainly does not believe it. If he did he would be trying it.
Voter ID is disproportionate.
It's never made a difference at a federal level, you're correct.
However, it has (albeit rare) had impacts on elections at lower levels of government.
Per the Washington Post (specifically citing them here because it would be dishonest to trot out conspiracy theories from Fox)
Almost no elections in the past 50 years have been flipped because of documented voter fraud, with occasional exceptions at lower levels.
Sometimes the margins can be thinner than people realize. So even if the overall number is extraordinarily small in comparison to the total number of voters, that doesn't mean that it may not ever be a problem in the future.
Point of reference, the 1960 election actually came pretty close in a few states and they had to call in some some independent reviewers after the fact because of how close it was in the state of Illinois and Nixon thought we was cheated out of that state.
Illinois, that year, saw Kennedy win ~8,800 votes.
There was an issue with irregularities and improper voting that year (specifically in Chicago), and the independent review found that there were just fewer than 8,000 votes that were impacted by the irregularities that took votes away from Nixon...however, given the numbers, that means without the irregularities, Kennedy still took the state, but by a razor thin margin of ~800
The reviewers concluded:
This figure of slightly less than 8,000 votes is not sufficient to make a convincing case that Nixon was cheated out of Illinois' electoral votes.
There were states that were even closer in that election cycle as well...Kennedy only won Hawaii by 115 votes that year. (Key difference is, Nixon didn't throw the same kind of temper tantrum Trump did after the reviews were concluded, and did the right thing and gave a concession speech)
So just because something is extremely rare and hasn't happened "yet", doesn't mean that it can't happen.