A Mode 2 transition cable with a 220V outlet adapter is what you need, but there are some important caveats. Yeah, the ID.4 can theoretically be charged from a regular household outlet, but you need to be more careful here than what the previous answers suggest. The car's built-in module does support it, but the problem might not be with the electric vehicle itself - it could be with your home electrical wiring. If the wiring is old or not designed for sustained loads, there's a real risk of cable overheating, especially if you're charging every day for several hours.
Speed-wise, yeah, it'll be painfully slow. You'll get about 2-3 km of range per hour of charging, so a full battery will take more than a day. This only makes sense if you don't drive much or can leave the car plugged in overnight after a short trip. But if you regularly do long drives or drive every day, even a cheap 11 kW wall charger will pay for itself in convenience - you'll get a full charge overnight.
My advice: try Mode 2 for a week or two and see how often you actually need it. If it turns out you're constantly in a rush or can't charge in time, then investing in a proper charger won't seem so expensive anymore.