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<?php $string='Demo #1: (11 steps)[1] and Demo #2: (35 steps)[2]'; var_export(preg_match_all('~\(([^)]*)\)\[([^\]]*)]~',$string,$out,PREG_SET_ORDER)?$out:[]);
Output for 7.1.0 - 7.1.25, 7.2.0 - 7.2.33, 7.3.0 - 7.3.33, 7.4.0 - 7.4.33, 8.0.0 - 8.0.30, 8.1.0 - 8.1.33, 8.2.0 - 8.2.29, 8.3.0 - 8.3.26, 8.4.1 - 8.4.13
array ( 0 => array ( 0 => '(11 steps)[1]', 1 => '11 steps', 2 => '1', ), 1 => array ( 0 => '(35 steps)[2]', 1 => '35 steps', 2 => '2', ), )

preferences:
72.33 ms | 408 KiB | 5 Q