Xpath - Group matches as combined results
<a class="random-a-tag"></a>
 <p>text1</p>
 <p>text1</p>
 <p>text1</p>
 <div id="1"></div>
 <p>text2</p>
 <p>text2</p>
 <p>text2</p>
 <div id="2"></div>
 <p>text3</p>
 <p>text3</p>
 <p>text3</p>
 <div id="3"></div>

//a[@class="random-a-tag"]/following-sibling::div[@id]

//a[@class="random-a-tag"]/following-sibling::p[following-sibling::div[1][@id="3"]]/text()

/*/a/following-sibling::div
        [@id=$pId]
           /preceding-sibling::p
             [count(.
                   |
                    /*/a/following-sibling::div
                                  [@id=$pId]
                                    /preceding-sibling::div[1]
                                       /preceding-sibling::p
                    )
            =
              count(/*/a/following-sibling::div
                                  [@id=$pId]
                                    /preceding-sibling::div[1]
                                       /preceding-sibling::p
                    )
               +1
           ]

<t>
    <a class="random-a-tag"></a>
    <p>text1</p>
    <p>text1</p>
    <p>text1</p>
    <div id="1"></div>
    <p>text2</p>
    <p>text2</p>
    <p>text2</p>
    <div id="2"></div>
    <p>text3</p>
    <p>text3</p>
    <p>text3</p>
    <div id="3"></div>
</t>

<p>text2</p>
<p>text2</p>
<p>text2</p>

$ns1[count(.|$ns2) = count($ns2)]

(a/following-sibling::div
                  [@id=$pId]
                    /preceding-sibling::p
except
  a/following-sibling::div
                  [@id=$pId]
                    /preceding-sibling::div[1]
                       /preceding-sibling::p
  )/string()

text2 text2 text2