Try this (untested):

[% FOREACH n IN [0 .. array1.size ] %]
    first array:  [% array1.$n %]
    second array: [% array2.$n %]
[% END %]
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This combines string interpolation with array accessing using the .N operator (e.g. array.0, array.1, etc.)

You might have to interpolate ${array1.size} - that's why I say it's untested.