First, create a regular query to bring in the description, then use this query to feed the crosstab query.

But I still need the ID because the user can select the task and change it to another task or move it to another day. A task can also take several days (like TaskDescription & TaskDay from TaskDays), and it is also nice to get a good solution instead of a workaround.

Keep the ID in the original query

A crosstab query is non-updatable, so if you want to use it for a data entry form, it won't work, because you can't change the data.  This is not Excel, where you can enter data wherever you want.  Access requires data entry to be done in a structural manner, because Access stores data structurally, unlike Excel.

I suggest you use a main form-subfrom setup.  Have the user select a team on the main form, and show the tasks and dates for that team in the subform.  Or, select a date on the main form, and show the teams and tasks for that date on the subform.

A report can use a crosstab query with no problem (but with some caveats) because a report doesn't need to change the data, so the non-updatability of a crosstab query won't matter.

I'm not updating the crosstab query. The user can selects a task from the unassigned tasks list and then selects the starting date in the crosstab form. In the onclick event i update the master table upon which the crosstab query is based, and then requery the crosstab. This process works fine.