<?php

$array1 = array(
    (object) array("id" => 1),
    (object) array("id" => 3),
    (object) array("id" => 5),
    (object) array("id" => 6),
    (object) array("id" => 7)
);

$array2 = array(
    (object) array("id" => 1),
    (object) array("id" => 3),
    (object) array("id" => 5),
    (object) array("id" => 6),
    
);

$array3 = array();
foreach($array2 as $t) {
    $array3[] = $t->id;
}
$result = array_filter($array1, function($v) use($array3){
    return in_array($v->id, $array3);
});
print_r($result);