See SO question: Find an element in xml by its inner text
Search on an event (on a button click? On a textChanged? Depending on your needs) with a method like this:
// Load your document
XmlDocument xmlDoc = new XmlDocument();
xmlDoc.LoadXml(xmlFile);
string textToSearch = YourTextBox.Text;
bool hasNode = (xmlDoc.SelectNodes("/Expansion/ID[text()='" + textToSearch + "']").Count > 0);
Or
bool hasNode = (xmlDoc.SelectSingleNode("/Expansion/ID[text()='" + textToSearch + "']" != null);
EDIT: for your complement: if you want to display a message box only when the item if not found:
MessageBox.Show(String.Format("Item {0}{1} found", textBox1.Text, (!hasNode ? " not" : String.Empty)));