Earlier quoted context omitted.
I think biggest benefit from this kind of specification would be for data (partly) distributed and (partly) shared between different hosts, as there would be at least some common ground for both clients and server how to communicate. IDs are very abstract and does not necessarily tie data under particular host. Of course for some data domains ID could be URL, but that is decision made by data provider. Spec decision…
I'd say it's the other way around. Url's are opaque for the client - id's imply more knowledge of the implementation. E.g. the client would have to know which host to communicate with and how to structure url's from id's. With hyperlinked documents, all the client needs to know is http.
Keep in mind that this spec actually requires that every ID be able to be readily converted into a URL based on information found in the same payload, so URLs are still front-and-center in the design. It just separates out the notion of a unique identifier, so that it can be used in other kinds of requests.