If it's the kind of voter fraud ID would have any effect on it, it's incredibly easy to demonstrate. Someone goes to vote with my name who's not me, then I go to vote, they don't give me my ballot because it's been cast, and I complain. All such complaints go up the ladder (and probably to the media if I'm pissed off) and get investigated. That has basically never happened. For such a scheme to work, you would have to 1) know the name of every voter who was properly registered in the election BUT was 100% not going to vote on their own, 2) have a person who can pass for each and every absentee person (men for male names, etc.), 3) have these imposters go to the polling places in person, correctly remembering each of these names and associated addresses, and 4) not have anyone notice or say anything, ever.
In-person voter fraud is basically non-existent because it's a ridiculous way to commit fraud. If you want to cheat an election, you bribe a counter, or hack some software, or replace a ballot box, or send in 10k absentee ballots under registered voter name, or do something that will have an actual impact on the election on a serious scale. None of those will be touched by voter ID.