$output = array();
$arrayAB = array_merge($arrayA, $arrayB);
foreach ( $arrayAB as $value ) {
$id = $value['id'];
if ( !isset($output[$id]) ) {
$output[$id] = array();
}
$output[$id] = array_merge($output[$id], $value);
}
var_dump($output);
Optionally if you want to reset output’s keys, just do:
$output = array_values($output);