[{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([{$project:{intersection:{$setIntersection:["$queryA.ID","$queryB.ID"]},queryA:1,queryB:1}},{$project:{_id:0,data:{$map:{input:"$intersection",in:{intersection:"$$this",queryA:{$first:{$filter:{input:"$queryA",as:"item",cond:{$eq:["$$item.ID","$$this"]}}}},queryB:{$first:{$filter:{input:"$queryB",as:"item",cond:{$eq:["$$item.ID","$$this"]}}}}}}}}},{$unwind:"$data"},{$replaceRoot:{newRoot:"$data"}},{$project:{intersection:1,dateA:"$queryA.date",dateB:"$queryB.date"}}])