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Guide Query multiple tables with Servicenow Rest API and Powershell: Then, you can just treat that Database View like a table (as far as the REST API is concerned) like Use this when you hit exactly this in Query. Not for different errors or different tools.
Depends on what direction your join is (target parent, reference child vs target child, reference parent) If you're dot-walking through reference fields on the target table, you can just do it in the query like assigned_to.first_name=bob, and it will automatically join sc_task to sys_user on the assigned_to reference …