[{queryA:[{"ID":"c80ea2cb-3272-77ae-8f46-d95de600c5bf","date":"1"},{"ID":"cdbcc129-548a-9d51-895a-1538200664e6","date":"2"},{"ID":"a4ece1ba-42ae-e735-17b0-f619daa506f9","date":"3"}],queryB:[{"ID":"c80ea2cb-3272-77ae-8f46-d95de600c5bg","date":"4"},{"ID":"cdbcc129-548a-9d51-895a-1538200664e6","date":"5"},{"ID":"a4ece1ba-42ae-e735-17b0-f619daa506f9","date":"6"}],}]

db.collection.aggregate([{$project:{all:{$concatArrays:[{$map:{input:"$queryA",in:{ID:"$$this.ID",dateA:"$$this.date"}}},{$map:{input:"$queryB",in:{ID:"$$this.ID",dateB:"$$this.date"}}}]}}},{$unwind:"$all"},{$group:{_id:"$all.ID",dateA:{$push:"$all.dateA"},dateB:{$push:"$all.dateB"}}},{$project:{dateA:{$first:"$dateA"},dateB:{$first:"$dateB"},intersection:"$_id",_id:0}},{$match:{dateA:{$exists:true},dateB:{$exists:true}}}])