Earlier quoted context omitted.
I have found that naming ids as _id helps downstream code when trying to figure out which thing's id you are dealing with. It also helps with avoiding renaming fields when a structure contains multiple ids. I do agree it makes joins more verbose.
This isn't a great idea. Maybe it works for you, but you can alias it, too. The main identification column of a table should just be id. Any foreign keys can have a table prefix. Please don't prefix the main table id with the table name.
I also use "id" but I would say SQL was designed with the opinion that ids should be prefixed with the table name.