How convert xml with namespaces to php array?

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$xml = <<<XML
<root xmlns:ns1="http://example.com/ns1" xmlns:ns2="http://example.com/ns2">
    <ns1:element1>Value 1</ns1:element1>
    <ns2:element2>Value 2</ns2:element2>
</root>
XML;

// Create SimpleXMLElement object
$simpleXml = new SimpleXMLElement($xml);

// Convert XML to PHP array
$json = json_encode($simpleXml);
$array = json_decode($json, true);

print_r($array);

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Array
(
    [@attributes] => Array
        (
            [xmlns:ns1] => http://example.com/ns1
            [xmlns:ns2] => http://example.com/ns2
        )

    [ns1:element1] => Value 1
    [ns2:element2] => Value 2
)