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Is it possible to implement approval loops?

Yes. You can implement an approval loop which will allow approvers to send the form back a step so the previous user can modify values on the form. .

How can I find step ID / form ID / field IDs and use them in hooks?

When adding custom code for Gravity Forms or Gravity Flow, you’ll often need to target a specific form, field, or workflow step. Each ID is located in a different part of the interface.