Programmatically find out field name of an Id-field

Depending on the type of entity, it is either nid/vid/uid and possibly other. It is nice to have an ->id() method which allows you to work with data in an uniform fashion without relying on those details, but there are quite some use-cases, where I am running into troubles.

Just an example, getting list of revision ids for an generic entity seems not possible without knowing the name of the id-field.

$entityTypeId = $entity->getEntityTypeId();
$entityId = $entity->id();

$typeStorage = \Drupal::entityTypeManager()->getStorage($entityTypeId);

$query = $typeStorage->getQuery();
$query->allRevisions();
$query->condition("??????", $entityId);