Using data.table
:
require(data.table)
xx <- data.table(x, key="ID")
yy <- data.table(y, key="ID")
idx <- seq_len(max(yy[, .N, by=ID]$N))
merge(xx, yy[, as.list(XD[idx]), by=ID], by="ID", all=TRUE)
ID XD V1 V2
1: sll0001 A go_0002 go_0003
2: sll0002 B NA NA
3: sll0003 C go_0003 go_0004
4: sll0004 NA go_0005 NA