DP.ts

type D<T> = {
    [P in keyof T]?: T[P] extends Array<infer U> ? Array<D<U>> : T[P]
}

type W<V> = {
    wrapper: V
}

type A = D<{
    hoge: number,
    foo: W<{ bar: string }[]>,
}>

/*
Property 'wrapper' is missing in type 'never[]' but required in type 'W<{ bar: string; }[]>'.(2741)
input.ts(6, 5): 'wrapper' is declared here.
input.ts(11, 5): The expected type comes from property 'foo' which is declared here on type 'D<{ hoge: number; foo: W<{ bar: string; }[]>; }>'
*/
const a: A = {
    foo: []
}

Dつけたら動いた

type D<T> = {
    [P in keyof T]?: T[P] extends Array<infer U> ? Array<D<U>> : D<T[P]>
}

type W<V> = {
    wrapper: V
}

type A = D<{
    hoge: number,
    foo: W<{ bar: string }[]>,
}>

const a: A = {
    foo: {
        wrapper: [{ bar: '' }, {}]
    }
}