I would like to plot two separate pairs of points on a ggplot and then connect them by a line. I know I could create two ggplots and then combine them together, but then no line would be connecting them. How would I connect the pair of points?

Here is my example df:

df <- data.frame(id = c(1, 2, 3),
                 x_at_end = c(4, 5, 6),
                 y_at_end = c(8, 10, 12),
                 x_at_start = c(20, 30, 40),
                 y_at_start = c(40, 60, 80))

I would like to plot x_at_end and y_at_end and then draw a line to the point x_at_start and y_at_start create based on the id. Is this possible in ggplot?