Can google find dynamically generated single pages?

Do links with ID are actually generated somewhere on site (for example on overview page)? If they exists, then googlebot should reach and crawl those subpages like normal pages.

Do those subpages have unique title/description and unique content so they are not considered as duplicated content?

Check source of pages if they don’t have noindex metatag by accident.

Check robots.txt if subpages of that specific single page are not blocked.

I believe only main Single page will appear in sitemap.xml, so you would need to create/extend custom sitemap.xml if you want to include those “virtual” subpages.