Here you go:
USE information_schema;
SELECT *
FROM
KEY_COLUMN_USAGE
WHERE
REFERENCED_TABLE_NAME = 'X'
AND REFERENCED_COLUMN_NAME = 'X_id';
If you have multiple databases with similar tables/column names you may also wish to limit your query to a particular database:
SELECT *
FROM
KEY_COLUMN_USAGE
WHERE
REFERENCED_TABLE_NAME = 'X'
AND REFERENCED_COLUMN_NAME = 'X_id'
AND TABLE_SCHEMA = 'your_database_name';