I think what you would need is a calculated column for Title. Unfortunately, that seems like something that could be done by using this
=CONCATENATE([ID])
But we can't use the ID column when we want a calculated column. So there are couple ways we could approach this. If it was a new table we could create another ID column, lets call it 'ID2' that has a formula that would increment by one every time a new record is inserted, basically mimicking the existing ID column.
The second way is a bit more work but achievable, check out this article on how it's done:
https://spgeeks.devoworx.com/id-field-in-calaulated-column-sharepoint/
I'm not sure why we can't directly reference the ID column, it's a real pain, but hopefully these ideas will help you, cheers.