Use Element.insertAdjacentHTML() with a position of 'afterend' to parse htmlString and insert it after the end of el.
const insertAfter = (el, htmlString) =>
el.insertAdjacentHTML('afterend', htmlString);
// Example
insertAfter(document.getElementById('myId'), '<p>after</p>');
// <div id="myId">...</div> <p>after</p>
