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<?php $payload = ['name' => ['asdf'], 'id' => [1,2,3,4]]; var_dump(urldecode(http_build_query($payload, PHP_QUERY_RFC3986)));
Output for 7.3.0 - 7.3.33, 7.4.0 - 7.4.26, 8.0.0 - 8.0.13, 8.1rc1 - rc3
string(44) "name[0]=asdf&id[0]=1&id[1]=2&id[2]=3&id[3]=4"

preferences:
22.89 ms | 460 KiB | 5 Q