(defun org-remove-id-from-last-capture ()
  "Remove ID property from last `org-capture' entry, save capture buffer."
  (let* ((properties (org-entry-properties org-capture-last-stored-marker))
         (file (cdr (assoc "FILE" properties))))
    (when (org-entry-delete org-capture-last-stored-marker "ID")
      (with-current-buffer (get-file-buffer file)
        (save-buffer)))))

(add-hook 'org-capture-after-finalize-hook #'org-remove-id-from-last-capture)