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Working for Uber an Belgian ID card.
If you registered with the commune/gemmente where you live as you are required to do by Belgian law, then you can ask them for an E-card.
If you didn't register, then you are living in Belgium illegally and one trusts that Uber would not allow you to work for them.
Registering now isn't a waste of time - it's a legal obligation.
Off you go now. Once you've registered, your question becomes redundant.
You are absolutely "legally allowed to live and work here" however, if you intend to reside here and do not register, you are here illegally.
Looking at the Ubereats site, the only thing it says is "Avoir une pièce d'identité valable dans l'Union Européenne", so you could always give it a try with your Irish passport.