You’re almost there, you need to add another $project stage to your pipeline and use the $arrayElemAt to return the single element in the array.
db.users.aggregate(
[
{ "$project": {
"fullName": {
"$concat": [ "$firstName", " ", "$lastName"]
},
"country": "$country"
}},
{ "$lookup": {
"from": "countries",
"localField": "country",
"foreignField": "_id",
"as": "countryInfo"
}},
{ "$project": {
"fullName": 1,
"country": 1,
"countryInfo": { "$arrayElemAt": [ "$countryInfo", 0 ] }
}}
]
)