You can by using “narrow” tables (key value and key key).
Download the slide notes from this presentation of how Relational.ai is doing it:
https://www.slideshare.net/maxdemarzi/developer-intro-deckpo...
I would think the right approach to "SQL without LEFT JOIN" would be just to focus on making pulling down multiple related tables as distinct resultsets in a single query easier and have the client code work with a graph instead of hammering everything into a single tabular layout. Or leave the concept of "connect these two tables together and make them NULL where not applicable" as an exercise for the client.