BarService.php

<?php
namespace Application\Service;

use DateTime;

class BarService
{
  protected $dateTime;
  
  public function __construct(DateTime $dateTime)
  {
    $this->dateTime = $dateTime;
  }
}

BarServiceFactory.php

<?php
namespace Application\Factory\Service;

use Application\Service\BarService;
use DateTime;
use Interop\Container\ContainerInterface;

class BarServiceFactory
{
    /**
     * @param ContainerInterface $container
     * @return BarService
     */
    public function __invoke(ContainerInterface $container)
    {
        return new BarService(new DateTime());
    }
}

FooService.php

<?php
namespace Application\Service;

class FooService
{
  protected $barService;
  protected $invokableService;
  
  public function __construct(BarService $barService, InvokableService $invokableService)
  {
    $this->barService = $barService;
    $this->invokableService = $invokableService;
  }
}

FooServiceFactory.php

<?php
namespace Application\Factory\Service;

use Application\Service\FooService;
use Interop\Container\ContainerInterface;

class FooServiceFactory
{
    /**
     * @param ContainerInterface $container
     * @return FooService
     */
    public function __invoke(ContainerInterface $container)
    {
        return new FooService(
          $container->get(Application\Service\BarService::class),
          $container->get(Application\Service\InvokableService::class)
        );
    }
}

InvokableService.php

<?php
namespace Application\Service;

class InvokableService
{
  
}

module.config.php

<?php
return [
  'service_manager' => [
    'factories' => [
      Application\Service\FooService::class => Application\Factory\Service\FooServiceFactory::class,
      Application\Service\BarService::class => Application\Factory\Service\BarServiceFactory::class,
      Application\Service\InvokableService::class => Zend\ServiceManager\Factory\InvokableFactory::class,
    ],
  ],
];