Not sure if the most efficient way, but this worked for me:
from pyspark.sql.functions import col
df1.alias('a').join(df2.alias('b'),col('b.id') == col('a.id')).select([col('a.'+xx) for xx in a.columns] + [col('b.other1'),col('b.other2')])
The trick is in:
[col('a.'+xx) for xx in a.columns] : all columns in a
[col('b.other1'),col('b.other2')] : some columns of b