Election integrity and voter access aren't opposing goals. They're two separate questions with two separate answers.
Verification: yes, at registration. Use the I-9 — the same form every working American already fills out, accepting a menu of documents. Let the Postal Service, senior centers, and libraries serve as verifiers so nobody drives an hour to a county clerk.
Friction at the polling place: no. If registration is verified, any government-issued photo ID, two forms of non-photo ID with name and address, or a utility bill plus bank statement should suffice.
The reason we don't have this bill is the loudest voices on both sides need the fight more than the fix. I'd rather have the fix.