Add multiple tags to multiple posts

I found the solution:

My array of IDs + tags is like this:

$array_tags_and_ids = [
'239' => ["car", "animal", "dog", "cat"],
'243' => ["dsa", "ewr", "bvc", "fgn"]
];

So I do:

 foreach ($array_tags_and_ids as $key => $value) {
         // re-call the value and get only the text value
         $implode_tags_names = implode( ', ', $value );

         // wordpress function
         wp_set_post_tags( $key, $implode_tags_names, true );

     }

Done