This is impossible from a temporal point of view.
When the PHP code is run, there is no JavaScript. The page is not yet loaded into the browser. There is no JavaScript engine being run. There are no JavaScript variables. By the time the browser renders the page, the server code has already done its job.
With that said, you can render HTML which refers to a JavaScript function. For example:
<?php print '<a href="javascript:DoNav(\'thisTest.html\');">test</a>'; ?>
Then, implement DoNav
accordingly:
function DoNav(url)
{
location.href = url + '?id=' + my_JS_value; // Navigate to the new URL with the JavaScript variable
}