2. Publish results to the public Internet using the ID as an anonymizer.
3. Anyone who wishes to report that their vote was improperly counted or not counted at all can simply present their receipt to verify their identity.
Why is this hard?
Edit: obviously there are complexities when it comes to people who either misremember their selections, but I also see no reason you couldn't also have a copy of your ballot emailed or printed out for you from the voting precinct.