I’m trying to get ids of an array with foreach:

$arrays = Array
(
    [bike] => Array
        (
            [id] => 29
        )
    [car] => Array
        (
            [0] => Array
                (
                    [id] => 190
                )
            [1] => Array
                (
                    [id] => 222
                )
        )
    [plan] => Array
        (
            [id] => 313
        )
)

But some arrays are on 2nd level (car is this example).

I know I can do this for the first level:

foreach ($arrays as $array) {
  $array['id']
}

And I can do this for the second level:

foreach ($arrays as $array => $value) {
  $value['id']
}

But how to combine these methods with only one foreach?