include('php/config.php');
require_once "php/variables.php";
The include and require_once functions, take a filesystem path by default; not a URL. Consequently "URL parameters" (and the corresponding $_GET superglobal) are irrelevant here, because you are not passing a URL.
(Yes, you can pass a URL to these functions if you have the appropriate fopen wrappers set and this will trigger an HTTP request - but this is most probably not what you want to do here.)
The include and require_once functions include the referenced document in-place and therefore inherit the current scope. Consequently the $id variable will be available as-is to these included scripts (as the other answers have already pointed out).