How can I remove the WordPress-Version (?ver=5.x) from my plugin

Change the 4th parameter from false to null.

wp_enqueue_script( 'myID', $url, array( 'jquery' ), null, true );

From the wp_enqueue_script() documentation:

$ver
(string|bool|null) (Optional) String specifying script version number, if it has one, which is added to the URL as a query string for cache busting purposes. If version is set to false, a version number is automatically added equal to current installed WordPress version. If set to null, no version is added.

(emphasis added)