MySQL 8.0

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CREATE TABLE tablea(
   id         INTEGER  NOT NULL 
  ,start_time VARCHAR(17) NOT NULL
);
INSERT INTO tablea(id,start_time) VALUES (1,'2016-02-06 17:03');
INSERT INTO tablea(id,start_time) VALUES (1,'2016-03-09 18:09');
INSERT INTO tablea(id,start_time) VALUES (2,'2017-02-07 23:34');
INSERT INTO tablea(id,start_time) VALUES (3,'2016-02-07 19:12');
INSERT INTO tablea(id,start_time) VALUES (3,'2016-02-07 23:52');
CREATE TABLE tableb(
   id       INTEGER  NOT NULL 
  ,end_time VARCHAR(17) NOT NULL
);
INSERT INTO tableb(id,end_time) VALUES (1,'2016-02-06 18:32');
INSERT INTO tableb(id,end_time) VALUES (1,'2016-03-09 21:11');
INSERT INTO tableb(id,end_time) VALUES (2,'2017-02-08 01:22');
INSERT INTO tableb(id,end_time) VALUES (3,'2016-02-07 21:32');
INSERT INTO tableb(id,end_time) VALUES (3,'2016-02-08 02:11');
	select
		a.*,
		b.end_time
	from
		tablea a
		inner join tableb b
			on  b.id = a.id
			and b.end_time = (
				select min(b1.end_time)
				from tableb b1 
				where b1.id = a.id and b1.end_time > a.start_time
			)


id
start_time
end_time


1
2016-02-06 17:03
2016-02-06 18:32

1
2016-03-09 18:09
2016-03-09 21:11

2
2017-02-07 23:34
2017-02-08 01:22

3
2016-02-07 19:12
2016-02-07 21:32

3
2016-02-07 23:52
2016-02-08 02:11

id	start_time	end_time
1	2016-02-06 17:03	2016-02-06 18:32
1	2016-03-09 18:09	2016-03-09 21:11
2	2017-02-07 23:34	2017-02-08 01:22
3	2016-02-07 19:12	2016-02-07 21:32
3	2016-02-07 23:52	2016-02-08 02:11