Yes for signature: in Driver settings you can require an e-signature (and/or photo) before a stop can be marked delivered, and customize the signature disclosure text shown to the recipient. For the ID portion, add a required Driver Task — a checkbox or text field confirming the ID check — so the driver can't complete a restricted stop without it.
Together these enforce a consistent, documented hand-off, though the age/ID check itself is performed by the driver rather than verified automatically. Works in both EasyRoutes for Shopify and EasyRoutes for Web.
See: Proof of Delivery · Driver Tasks