MySQL 8.0

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create table test (id int auto_increment primary key, j json)
;
insert into test (j) values
('[{"substanceId": 182, "text": "substance_name_182"}, {"substanceId": 183, "text": "substance_name_183"}]'),
('[{"substanceId": 184, "text": "substance_name_184_old"}]')
SELECT JSON_PRETTY(j)
FROM test


JSON_PRETTY(j)


[
  {
    "text": "substance_name_182",
    "substanceId": 182
  },
  {
    "text": "substance_name_183",
    "substanceId": 183
  }
]

[
  {
    "text": "substance_name_184_old",
    "substanceId": 184
  }
]


WITH upd AS (
  SELECT *
  FROM JSON_TABLE('[{"substanceId": 182, "text": "substance_name_182_new"}, {"substanceId": 184, "text": "substance_name_184"}]',
                  '$[*]' COLUMNS (
                  substanceId INT PATH '$.substanceId',
                  txt VARCHAR (100) PATH '$.text')
                  ) jt
  CROSS JOIN (SELECT DISTINCT id
              FROM test) t
),
cur AS (
  SELECT id, substanceId, txt
  FROM test
  JOIN JSON_TABLE(test.j,
                  '$[*]' COLUMNS (
                  substanceId INT PATH '$.substanceId',
                  txt VARCHAR (100) PATH '$.text')
                 ) jt
),
allv AS (
  SELECT COALESCE(upd.id, cur.id) AS id, 
         COALESCE(upd.substanceId, cur.substanceId) AS substanceId,
         COALESCE(upd.txt, cur.txt) AS txt
  FROM upd
  LEFT JOIN cur ON cur.substanceId = upd.substanceId
  UNION ALL 
  SELECT COALESCE(upd.id, cur.id) AS id, 
         COALESCE(upd.substanceId, cur.substanceId) AS substanceId,
         COALESCE(upd.txt, cur.txt) AS txt
  FROM upd
  RIGHT JOIN cur ON cur.substanceId = upd.substanceId
),
obj AS (
  SELECT DISTINCT id, JSON_OBJECT('substanceId', substanceId, 'text', txt) AS o
  FROM allv
),
arr AS (
  SELECT id, JSON_ARRAYAGG(o) AS a
  FROM obj
  GROUP BY id
)
UPDATE test
JOIN arr ON test.id = arr.id
SET test.j = arr.a

SELECT JSON_PRETTY(j)
FROM test


JSON_PRETTY(j)


[
  {
    "text": "substance_name_184",
    "substanceId": 184
  },
  {
    "text": "substance_name_182_new",
    "substanceId": 182
  },
  {
    "text": "substance_name_183",
    "substanceId": 183
  }
]

[
  {
    "text": "substance_name_184",
    "substanceId": 184
  },
  {
    "text": "substance_name_182_new",
    "substanceId": 182
  }
]