You can use the following formula in cell AE4
"select "&TEXTJOIN(",", 1, IF(LEN(A4:A),
(If this is what you are looking for, I will update with image and more info as well)
It may not be the most elegant, but one approach could be to set a Data Validation sheet that will filter based on what you enter into that row. Once something is entered, the filter pulls related ID #s, and the data validation references that. This only works if you are entering this for a single cell reference though, as you might for a quick lookup.