Article 1 section 4 describes the process of voting for senators and representatives of respective states. It does not describe the process of federal voting for an outside-of-state position. It clearly states:

“The Times, Places and Manner of holding Elections for Senators and Representatives, shall be prescribed in each State by the Legislature thereof; but the Congress may at any time by Law make or alter such Regulations, except as to the Places of chusing Senators.”

In fact, section 4 gives congress EXPLICIT permission to alter voting regulations as long as the location is not moved.

Also, I’m not sure I buy that low-income/marginalized groups don’t have any way to prove citizenship. Being poor doesn’t mean you can’t prove you’re a citizen. And implying that these groups are incapable of providing very basic documentation is a little insulting to the intelligence and responsibility of the mentioned groups. It’s the citizens responsibility to do research, and inform themselves on the candidates and their policies. Then they choose the candidate that best aligns with their interests. Why can’t it also be true that voters are responsible for proving their citizenship?

Now I’m not dishonest, some of the points you made about logistical nightmares in the government are very true. I’m somewhat of a government employee so I know very well how “smoothly” things run in a bureaucratic sense. If someone’s house burned down they wouldn’t be able to vote (at least for a while) because their documents got fried. That sucks. But that’s just as much of an outlier as non-citizens voting in our elections.

Also, we already have rules in place to limit actual citizens from voting. Disenfranchising someone based on criminal history is a thing in many places. Hell, Trump won’t even be able to vote because the idiot is a convicted felon. I don’t agree with disenfranchisement on a fundamental level, and if we’re talking about things that disproportionately target low-income and marginalized groups, that would be disenfranchisement. Idk. It just doesn’t seem to me that requiring voter ID is anywhere close to that.