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Then the statements given to you should print one line of output for each matching line of input.

Another one:
awk '$0~e {if(match($0,/ID [0-9]+/)) print substr($0,RSTART+3,RLENGTH-3)}' e="Error $err" $rrs.*.err.txt
And the output will not have the colon generated by the previous solution.

cat $rrs.*.err.txt | grep "Error $err"

change it to

awk -v err="$err" '/Error/ && $0~err {for(i=1;i<=NF;i++)if($i~/ID/){print $(i+1);next}}' $rrs.*.err.txt