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#!/bin/bash
s='{"id":1","color": ["green","red", "blue"]}, {"id":2, color:black}'
sed ':a;s/\(\[[^][]*\)",[ \t]*"/\1,/;ta;' <<< "$s"

Success #stdin #stdout 0s 19632KB

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Standard input is empty

stdout

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{"id":1","color": ["green,red,blue"]}, {"id":2, color:black}

https://ideone.com/vCnhwE

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Bash (bash 5.0.3)

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