Nested Sub-Report in Tablix SSRS

Is it possible for me to include a sub report in a tablix row that is grouped by an ID and pass that ID into the sub-report to be ran? Basically, the sub-report would return data from a second dataset based off of the ID that is being used in the grouping of the main tablix?

My main tablix has 4 rows that are grouped together by an ID where i create a few graphs from a main dataset. My second dataset returns simulations that can contain hundreds of rows per ID, which is why I don't want to do this in a join statement because it is extremely ineffecient. I want to add a tablix to row 5 within my main tablix and display the results from dataset2, but only have it run within the current group of Tablix1.

Dataset1 would be similar to this with a unique iGoalID for each group in the main tablix.

Dataset2 would look like this;

I'd like to be able to loop through DataSet2 and display the data, but only grouped by the main tablix iGoalID equaling dataset2's iGoalID