polygons = [[(1, 1), (4, 3), (4, 1), (1, 1)], [(2, 4), (2, 6), (4, 6), (4, 
    4), (2, 4)], [(8, 1), (5, 1), (5, 4), (8, 1)]]
points = [(3, 5), (7, 3), (7, 6), (3, 2)]
Apply a pairwise shapely function on two numpy arrays of shapely objects