如何使用数组函数在内部数组中添加不同的元素

是否可以添加不同的数组元素到内部数组?

假设我有以下两个数组:

$arr1 = [20=>['id'=>20,'aaa'=>1],21=>['id'=>21,'aaa'=>2]];
$arr2 = [20=>['id'=>20,'bbb'=>1],21=>['id'=>21,'bbb'=>2]];

如何使用数组函数实现以下结果?

$arrOutput = [20=>['id'=>20,'aaa'=>1,'bbb'=>1],21=>['id'=>21,'aaa'=>2,'bbb'=>2]];
Array
(
    [20] => Array
        (
            [id] => 20
            [aaa] => 1
            [bbb] => 1
        )
    [21] => Array
        (
            [id] => 21
            [aaa] => 2
            [bbb] => 2
        )
)