shortcut to retrieve array of object property in javascript

I have this array of object

[{
    id: 1,
    checked: true,
    subChild: [{
        id: 11,
        checked: true
    }]
},
{
    id: 2,
    checked: true,
    subChild: [{
        id: 22,
        checked: false
    }]
},
{
    id: 3,
    checked: false,
    subChild: [{
        id: 33,
        checked: true
    }]
}]

is there any lib to get the id base on the checked property? I can use loop through it using filter and find method but it will be a lot of manual work, imagine I have another level of nested array of object.

expected output: [1, 11, 2, 33]