Steps to reproduce the issue

Nonsef URLs like this:
index.php?option=com_tags&Itemid=657&id=4-apple&view=tag
are turned into a correct SEF like this:
[menu-item-name]/[tag-name]
eg:
tags/apple
So this converts correctly.

However, nonsef URLs like this:
index.php?option=com_tags&Itemid=657&id[0]=4&view=tag
fail to generate a correct SEF, converting to ths:
menu-item-name/[TAG-ID]
eg:
tags/4
So in this case it doesn't use the name but it uses the ID of the tag.

To reproduce the issue, link to a URL formed like the above ones, for an existing com_tags tag.

Expected result

index.php?option=com_tags&Itemid=657&id[0]=4&view=tag

should form an URL like:
tags/apple

Actual result

But instead it forms an URL like:
tags/4

System information (as much as possible)

Tested on Joomla 4.3.4