I think it's a mistake to think you can't write good efficient SQL for well-normalized schemas with AR. You can. Usually anyway, for a great many use cases.
[Arel is _really nice_, but sadly Rails absorbed it and considers it "private API", especially in it's most sophisticated features. I use em anyway, they generally don't break... but if I wasn't using ActiveRecord as a whole, I'd probably use Sequel instead.]
When it was first added to Rails, improving the query building possibilities, it was a separate gem that Rails depended on. I'm not sure if it was written specifically for Rails originally just maintained in a separate gem, or intended by it's original writers to be an independent project. But it was later absorbed into the Rails repo and we were later told by Rails maintainers that it's more sophisticated manual API (look up how to make a subquery with Arel for instance) were not intended as public API and had no backwards compat commitment.