Loop Array dan periksa apakah nilai cocok di JS

var arr1 = [1, 3, 4,];

var arr2 = [
  {
    id: 1,
    title: 'Title 1',
   },
  {
    id: 2,
    title: 'Title 2',
   },
];

var res = arr2.filter(i => arr1.includes(i.id));

console.log(res);
Poor Puffin