How to use Vlookup(TRUE) to extract values?

I was trying to use the vlookup to find the value matching the target ID that is the nearest to my ID as shown in the image, but the tricky part is that the number it should compare is the digit after the 2nd "_". So the formula did not pick up the proper value.

Example.png

I have attached the sample file. Any help is appreciated (does not have to be a "vlookup" - anything that works)!