Hey,
you cannot get node ids directly, but you can get way ids for the wheelchair profile by adding
"extra_info":["osmid"]
to your request.
You’ll receive something like
"extras": {
"osmId": {
"values": [
[0, 1, 25814478],
[1, 2, 696913015],
…
]
}
}
Have a look here for an explanation on what these values mean.
You should be able to use the overpass-api to get node ids (or tags or whatever else) from that.
Best regards