You are looking for something like this:
WITH RECURSIVE x AS (
SELECT id, id AS full_id, 1 AS level
FROM foo
WHERE NOT EXISTS (
SELECT 1
FROM foo AS foo2
WHERE foo.id != foo2.id
AND foo.id[1] = foo2.id[array_length(foo2.id, 1)])
UNION ALL
SELECT x.id, x.full_id || foo.id[2:array_length(foo.id, 1)], level + 1
FROM x
JOIN foo ON (
foo.id != x.id
AND foo.id[1] = x.full_id[array_length(x.full_id, 1)]
AND array_length(foo.id, 1) != 1)
), z AS (
SELECT max(level) OVER (PARTITION BY id), * FROM x
)
SELECT full_id FROM z WHERE max = level
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