Get a value inside a get_post_meta Array

$banner_subtitle = get_post_meta( $post_id, 'header_section_meta', true );
if (!empty($banner_subtitle['banner_subtitle'])) {
    echo $banner_subtitle['banner_subtitle'];
}

or as a ternary

$banner_subtitle = get_post_meta( $post_id, 'header_section_meta', true );
echo !empty($banner_subtitle['banner_subtitle']) ? $banner_subtitle['banner_subtitle'] : '';

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