Just need the Excel formula?
Between two rows (x₁, y₁ in A2:B2, x₂, y₂ in A3:B3, x in D2):
=B2+(D2-A2)*(B3-B2)/(A3-A2)
In a sorted table A2:B100 (Excel 365):
=LET(x,D2, xs,A2:A100, ys,B2:B100, i,MATCH(x,xs,1),
x1,INDEX(xs,i), x2,INDEX(xs,i+1), y1,INDEX(ys,i), y2,INDEX(ys,i+1),
y1+(x-x1)*(y2-y1)/(x2-x1))