我找到了解决方案：

我的ID+标记数组如下所示：

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

 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 );

     }