I always prefered ID to TableName + ID for the id column and then TableName + ID for a foreign key. That way all tables have a the same name for the id field and there isn’t a redundant description. This seems simpler to me because all the tables have the same primary key field name.
As far as joining tables and not knowing which Id field belongs to which table, in my opinion the query should be written to handle this situation. Where I work, we always prefece the fields we use in a statement with the table/table alias.