May be I don't know the full picture, but the data format seems to be strange. If nothing can be done at the data source, then some collects, pivots and joins will be needed. Try this.
import pyspark.sql.functions as F
test = sqlContext.createDataFrame([('A=id1a A=id2a B=id1b C=id1c B=id2b',1),('D=id1d A=id3a B=id3b C=id2c',2),('A=id4a C=id3c',3)],schema=['col1','id'])
tst_spl = test.withColumn("item",(F.split('col1'," ")))
tst_xpl = tst_spl.select(F.explode("item"))
tst_map = tst_xpl.withColumn("key",F.split('col','=')[0]).withColumn("value",F.split('col','=')[1]).drop('col')
#%%
tst_pivot = tst_map.groupby(F.lit(1)).pivot('key').agg(F.collect_list(('value'))).drop('1')
#%%
tst_arr = [tst_pivot.select(F.posexplode(coln)).withColumnRenamed('col',coln) for coln in tst_pivot.columns]
tst_fin = reduce(lambda df1,df2:df1.join(df2,on='pos',how='full'),tst_arr).orderBy('pos')
tst_fin.show()
+---+----+----+----+----+
|pos| A| B| C| D|
+---+----+----+----+----+
| 0|id3a|id3b|id1c|id1d|
| 1|id4a|id1b|id2c|null|
| 2|id1a|id2b|id3c|null|
| 3|id2a|null|null|null|
+---+----+----+----+----