As clarified in this other post here, similar to yours, Firestore rules are not used for filtering data, but to set which data are accessible for which users and which queries can be performed.
Considering that, you will need to write code that will query and compare the datas from your request.auth.uid, with the ids from your subcollection. This way, you will be able to confirm the data you want, that is the user requesting being authorized to access the information. This would be the correct way to handle the request and return the information or not from your database.
A simple example of code that will confirm that the requesting users is in the members subcollection is similar to the following lines:
var user = firebase.auth().currentUser;
db.collection("events").where("members", "array-contains", user.uid).get()
While this code is untested, is a starting point for what you will need to do, to guarantee that the user requesting is allowed to retrieve the information. You can get more information on what you need here.
Let me know if the information helped you!