import re
text = "Company A, Inc(ID:12345), some-company, X (ID:12324), Some Special Company Z (ID:34324)"
print(re.findall(r"(?:,\s+)?(\S.*?\(ID:\d{5}\))", text))
aW1wb3J0IHJlCgp0ZXh0ID0gIkNvbXBhbnkgQSwgSW5jKElEOjEyMzQ1KSwgc29tZS1jb21wYW55LCBYIChJRDoxMjMyNCksIFNvbWUgU3BlY2lhbCBDb21wYW55IFogKElEOjM0MzI0KSIKcHJpbnQocmUuZmluZGFsbChyIig/OixccyspPyhcUy4qP1woSUQ6XGR7NX1cKSkiLCB0ZXh0KSk=