Returning multiple matches per ID (auto-fill when dragged down?)

Hi there! I have multiple assigned IDs for a single code so I need to return all matching values, not just one. I also want this to be kind of automated (?) when I drag down the upstream ID column, it can pull all corresponding values, even if they share or don't share the same code

I tried using FILTER, but it only spills results in one place and doesn’t carry over properly when dragged down for other rows. I don’t want to adjust ranges every time manually since my data might get longer.

Is there a way to make a formula that:

• works when dragged down,
• returns multiple matches per ID,
• and still updates properly even if the data goes beyond the current rows?

Left Side = source workbook; Right Side = destinatioon workbook

Thank you so much in advance!