您可以尝试以下代码

$data = ['name' => 'test','email' => 'test@gm.com'];// change this with your array
 $xml = new SimpleXMLElement('<root/>');
 array_walk_recursive($data, array($xml, 'addChild'));
 echo $xml->asXML();

从对象/数据结构到XML的通用转换是复杂的。您需要有关嵌套以及属性或文本内容的其他信息。以下是基于JSON的格式，包括XML的所有信息，如JSONML（JSON标记语言）。其他概念使用带有注解的模型的类/接口定义。
另一种方法是使用DOM或XMLWriter生成特定的XML输出。SimpleXML是一种抽象，只适用于某些（基本）格式。
在DOM中，你使用文档上的方法来创建不同的节点类型（元素，文本节点，属性，注解，...），然后使用父节点的方法来附加/插入节点。如果你从头开始创建文档，你只需要appendChild()（或PHP 8中新的append()）。创建的节点上的方法用于修改它（添加属性，子节点，...）。
以下是您提供的数据示例：

$data_workers = [
     ['id'=>"1", 'name'=>"John Smith", 'phone'=>"1956456456"],
     ['id'=>"2", 'name'=>"Jane Doe", 'phone'=>"1956456457"]
];

$data_works = [
     ['id'=>"1", 'worker_id'=>"1", 'date'=>"01-01-2023", 'total'=>"350"],
     ['id'=>"2", 'worker_id'=>"1", 'date'=>"01-01-2023", 'total'=>"360"],
     ['id'=>"3", 'worker_id'=>"2", 'date'=>"01-01-2023", 'total'=>"370"]
];

$document = new DOMDocument();
// create and append the document element "response"
$document->appendChild(
    $response = $document->createElement('response')
);
// add attributes to it
$response->setAttribute('status', "1");
$response->setAttribute('status_description', '');

// iterate the worker data
foreach ($data_workers as $workerData) {
    // create "worker" element and append to "response"
    $response->appendChild(
        $worker = $document->createElement('worker')
    );
    $worker->setAttribute('id', $workerData['id']);
    $worker->setAttribute('name', $workerData['name']);
    $worker->setAttribute('phone', $workerData['phone']);
    
    // filter works by worker_id 
    $worksOfWorker = array_filter(
        $data_works, 
        fn($current) => $current['worker_id'] === $workerData['id']
    );
     
    $worker->appendChild(
        $works = $document->createElement('works')
    );
    
    foreach ($worksOfWorker as $workData) {
        $works->appendChild(
            $work = $document->createElement('work')
        );
        $work->setAttribute('id', $workData['id']);
        $work->setAttribute('date', $workData['date']);
        $work->setAttribute('total', $workData['total']);
    }
    
}

$document->formatOutput = true;
echo $document->saveXML();

输出：

<?xml version="1.0"?>
<response status="1" status_description="">
  <worker id="1" name="John Smith" phone="1956456456">
    <works>
      <work id="1" date="01-01-2023" total="350"/>
      <work id="2" date="01-01-2023" total="360"/>
    </works>
  </worker>
  <worker id="2" name="Jane Doe" phone="1956456457">
    <works>
      <work id="3" date="01-01-2023" total="370"/>
    </works>
  </worker>
</response>