Possible to create a new post and have the Title and Slug automatically use the post’s ID?

You need to set the ID for the post_title and post_name. You have many approaches.

Typically your approach would be to use a filter in WordPress. The best I can say would be wp_insert_post_data and use the second parameter of this filter to get the post id and return the first parameter with the modified post_title and post_name.

The other option would be to use actions either save_post or wp_insert_post

They are defined with the same arguments.

File: wp-includes/post.php
3496:   /**
3497:    * Fires once a post has been saved.
3498:    *
3499:    * @since 1.5.0
3500:    *
3501:    * @param int     $post_ID Post ID.
3502:    * @param WP_Post $post    Post object.
3503:    * @param bool    $update  Whether this is an existing post being updated or not.
3504:    */
3505:   do_action( 'save_post', $post_ID, $post, $update );
3506: 
3507:   /**
3508:    * Fires once a post has been saved.
3509:    *
3510:    * @since 2.0.0
3511:    *
3512:    * @param int     $post_ID Post ID.
3513:    * @param WP_Post $post    Post object.
3514:    * @param bool    $update  Whether this is an existing post being updated or not.
3515:    */
3516:   do_action( 'wp_insert_post', $post_ID, $post, $update );

This may be from where you can start. Note that using wp_update_post at the end of _20170104_02 function will fire our save_post action again, so we needed to remove that action to escape from the infinite loop.

If you would use wp_insert_post_data this would not be needed, since filters return the data.

add_action('save_post', '_20170104_02', 10, 3);

function _20170104_02( $post_id, $post, $update ){

    if ( 'cpt' != $post->post_type) // only for your custom post type cpt
        return;

    if ( wp_is_post_revision( $post_id ) )
        return;

    if ( wp_is_post_autosave( $post_id ) )
        return;

    if ( !( true == $update  && 'publish' == $post->post_status ) )
        return;

    remove_action( 'save_post', '_20170104_02' );

    $my_post = array(
          'ID'           => $post_id,
          'post_title'   => $post_id,
          'post_name'    => $post_id
    );

    wp_update_post( $my_post );
}