Consider (after allowing for "subset of ID's from 'A'" and "filtered by a range of timestamps"):

SELECT A.id,
    ( SELECT COUNT(*) FROM B WHERE B.id = A.ID WHERE ???) AS B_count,
    ( SELECT COUNT(*) FROM C WHERE C.id = A.ID WHERE ???) AS C_count,
    ( SELECT COUNT(*) FROM D WHERE D.id = A.ID WHERE ???) AS D_count
    FROM A
    WHERE ???