How to change avatar of the comment author using comment ID?

You can use pre_get_avatar filter to manipulate comment avatar html and stop WP from getting a default avatar for the comment.

Passing a non-null value will effectively short-circuit get_avatar(),
passing the value through the ‘get_avatar’ filter and returning early.

E.g.

add_filter( 'pre_get_avatar', 'my_filter_pre_get_avatar', 10, 3 );
function my_filter_pre_get_avatar( $avatar_html, $id_or_email, $args ) {
    if ( is_a( $id_or_email, 'WP_Comment' ) ) {
        // Add more cases with elseif or use a switch statement here
        if ( '1092' === $id_or_email->comment_ID ) {
            // set avatar to whatever html you want
            $avatar_html="<img class="avatar" src="" alt="Custom avatar">";
        }
    }
    return $avatar_html;
}

Use this in your theme’s functions.php file or in a custom plugin.