r= regexp_extract('date','\d$',0 )
w=Window.partitionBy('id1')
new = (
          df.withColumn('y', min(r).over(w).astype('int'))
            .withColumn('x', max(r).over(w).astype('int'))
          #extract trailing digits in date, use min and max to create sequence, use array except to find missing dates' digits
          .withColumn('z', array_except(sequence(col('y'), col('x')),collect_list(r.astype('int')).over(w)))
          # explode column generated above
         .withColumn('z',explode('z'))
          #concat missing digits and dates to create new dates
         .withColumn('date',concat(regexp_replace('date', '\d$',''),col('z')))
          # select required columns
          .select('id1','date')
          # drop duplicates
          .dropDuplicates()
        )

#Create new df by appending outcome of above to existing df and sorting
df.unionByName(new, allowMissingColumns=True).sort('id1','date').show()

+---+----+--------+----+----+
|id1| id2|    date|col1|col2|
+---+----+--------+----+----+
|  1|   1|2022-W01|   5|  10|
|  1|   2|2022-W02|   2|   5|
|  1|   3|2022-W03|   3|   8|
|  1|null|2022-W04|null|null|
|  1|   5|2022-W05|   5|   3|
|  2|   2|2022-W03|   2|   2|
|  2|null|2022-W04|null|null|
|  2|   6|2022-W05|   4|   1|
|  2|null|2022-W06|null|null|
|  2|   8|2022-W07|   3|   2|
+---+----+--------+----+----+