IDs should just be IDs. You should be able to hand out your IDs on the street corner without compromising security. If knowing IDs has a negative impact on security, you've designed your system improperly.
While it’s no longer on ranks on the top 10 web vulnerabilities, gaining internal insight to systems is one of first things you do when infiltrating.
But people are messy and lazy. Nowadays, you ask for GDPR data and people give you CSVs with all their real table and column names.
Sometimes when you are just a little inside, figuring out an id is like figuring out a password (particularly with uuid as opposed to a sequence). Real nice if it leaks easily.
IMHO, leaking an ID always impose a risk. It is always have negative impact if leaked, no matter how perfect your system is.