How to pick out the date for a specific Action within an ID as well as the previous action

I have a list of IDs, within each ID is multiple rows for different actions as well as an action date. I need to pick out the date of a specific action as well as what action come prior to this one.

An example below;

Lets say I'm looking for Action d. Then:

for ID 1 I'd want to only have the row where action is d and a
for ID 2 rows where action d and b
for ID 3 rows where action d and a
for ID 4 rows where action d and c

I have no problem isolating just action d using WHERE action = d clause. I'm struggling to get the action before.

How can I do this?

When asking questions like this you should be providing DDL and DML that produces your example data. This makes it much easier to help with your question.

DECLARE @Table TABLE (ID INT, Action CHAR(1), Date DATE)
INSERT INTO @Table (ID, Action, Date) VALUES
(1, 'b', '01/02/2023'), (1, 'c', '02/02/2023'), (1, 'a', '03/02/2023'), (1, 'd', '04/02/2023'), 
(2, 'c', '01/02/2023'), (2, 'b', '02/02/2023'), (2, 'd', '03/02/2023'), (2, 'a', '04/02/2023'), 
(3, 'a', '01/02/2023'), (3, 'd', '02/02/2023'), (3, 'c', '03/02/2023'), (3, 'b', '04/02/2023'), 
(4, 'b', '01/02/2023'), (4, 'a', '02/02/2023'), (4, 'c', '03/02/2023'), (4, 'd', '04/02/2023');

You want to select rows, where the action is d, and you're using a predicate in the where clause to do so, but you also want to return which ever action was most recently performed for that ID as well.

;WITH rowN AS (
SELECT *, ROW_NUMBER() OVER (PARTITION BY ID ORDER BY Date) AS rn
  FROM @Table a
)

SELECT *
  FROM rowN a
    INNER JOIN rowN b
	  ON a.id = b.ID
	  AND a.rn = b.rn + 1
 WHERE a.Action = 'd'

Here we've used a windowed function to give each action a sequential number in a CTE. Since we now know we can expect the previous action to have a sequential number which is one less than the d action, we can simply just self join back to the CTE and find it.