<?php
 
$array1 = [
  ["id" => 1, "campo" => "nada 1"], 
  ["id" => 2, "campo" => "nada 2"],
  ["id" => 3, "campo" => "nada 3"]
];
 
$array2 = [
  ["id" => 2, "nome" => "Nome 2"], 
  ["id" => 3, "nome" => "Nome 3"],
  ["id" => 1, "nome" => "NOme 1"]
];
 
foreach ($array1 as $i => $teste) {
    // Retorna a posição em $array2 onde se encontra o id:
    $index = array_search($teste["id"], array_column($array2, "id"));
 
    // Obtém o nome:
    $name = $array2[$index]["nome"];
 
    // Define o nome no $array1:
    $array1[$i]["nome"] = $name;
}
 
var_export($array1);

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