JSFiddle - React, Tailwind, and code Playground

JavaScript

var ID_TO_FIND = 17;
var data = [{
    "id": 100,
    "title": "Tlt1",
    "tax": [{
        "name": "Tax1",
        "id": 15
     }, {
        "name": "Tax1",
        "id": 17
    }]
}, {
    "id": 101,
        "title": "Tlt2",
        "tax": [{
        "name": "Tax2",
            "id": 16
    }]
}, {
    "id": 102,
        "title": "Tlt3",
        "tax": [{
        "name": "Tax3",
            "id": 17
    }, {
        "name": "Tax3",
            "id": 18
    }]
}];

var arr = _.filter(data, function(obj) {
    return _.where(obj.tax, {id: ID_TO_FIND}).length > 0;
})

console.log(arr);