List, then download encrypted files in Drive by ID.

listDownload.js

drive.files.list({
  fields: 'nextPageToken, files(id, name)',
  q: `'${folderId}' in parents and name contains "tdf3.html" and trashed = false`
}, (err, res) => {
  if (err) return console.log('The API returned an error: ' + err);
  // Generate list of files.
  const files = res.data.files;
  if (files.length) {
    files.map((file) => {
      // Get name and ID of each file.
      var fileId = file.id;
      var fileName = file.name;
      var dest = fs.createWriteStream(`/some-folder/${fileName}`);
      drive.files.get({                    // Begin download request for file by ID.
        fileId: fileId,
        alt: 'media'
      }, {
        responseType: 'stream'
      }, function(err, res) {
        res.data
          .on('end', () => {
            console.log('Done.');
          })
          .on('error', err => {
            console.log(err);
          })
          .pipe(dest);
      });
    });
  }
});