Query MS SQL using R with criteria from an R data frame

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I have rather a large table in MS SQL Server (120 million rows) which I would like to query. I also have a dataframe in R that has unique ID's that I would like to use as part of my query criteria. I am familiar with the dplyr package but not sure if its possible to have the R query execute on the MS SQL server rather than bring all data onto my laptop memory (likely would crash my laptop).

of course, other option is to load the dataframe onto sql as a table which is currently what I am doing but I would prefer not to do this.

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