VSCode Keyboard command ids

Open command palette with Ctrl/Cmd + p and type in Open Default Keyboard Shortcuts(JSON)

then Enter or click on it

Preferences > Open Keyboard Shortcuts.

Click to edit keybindings.json for advanced customization. At the bottom of keybindings.json is a list of available commands:

// Here are other available commands:

This is mentioned (but hard to find) on the page shared by seairth.