MS Graph, for now, doesn't support this query from the autonomous application, and only the user can query this data.
My workaround is: get installed applications from the user who has already installed the app and read the id from the result.
const { Client } = require("@microsoft/microsoft-graph-client");
const client = Client.init({ ... });
const response = await client
.api(`/users/${userId}/teamwork/installedApps`)
.expand("teamsApp")
.filter(`teamsApp/displayName eq '${appName}'`)
.get();
const internalAppId = response?.value[0]?.teamsApp.id;