AssignOrderToCustomerObserver.php

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<?php
declare(strict_types=1);

namespace Magento\Sales\Observer;

use Magento\Customer\Api\Data\CustomerInterface;
use Magento\Framework\Event\Observer;
use Magento\Framework\Event\ObserverInterface;
use Magento\Sales\Api\OrderRepositoryInterface;

class AssignOrderToCustomerObserver implements ObserverInterface
{
    private $orderRepository;

    public function __construct(OrderRepositoryInterface $orderRepository)
    {
        $this->orderRepository = $orderRepository;
    }

    public function execute(Observer $observer)
    {
        $event = $observer->getEvent();
        $customer = $event->getData('customer_data_object');
        $delegateData = $event->getData('delegate_data');
        if (array_key_exists('__sales_assign_order_id', $delegateData)) {
            $orderId = $delegateData['__sales_assign_order_id'];
            $order = $this->orderRepository->get($orderId);
            if (!$order->getCustomerId()) {
                //if customer ID wasn't already assigned then assigning.
                $order->setCustomerId($customer->getId());
                $order->setCustomerIsGuest(0);
                $this->orderRepository->save($order);
            }
        }
    }
}