HI @PK_11081141
I don't see the specific error message, and in absence of context it could also be that JDBC driver for the database you're using has a bug. I remember an Amazon JDBC driver for AWS Athena 4 years ago that had significant bugs (did not support parametrized queries and the UNION keyword) that basically made it unusable in production (and that was in addition to the fact that Athena itself did not support stored procedures and neither declaring variables via DECLARE keyword).
In your case it's not about whether ThingWorx supports JOIN, instead it's about whether you're using JOIN correctly or whether the JDBC driver supports JOIN. Based on my previous experience I suggest running the query in an external query tool first, to make sure there's nothing TW specific that might impact your workload. If you have a query that executes correctly, then you can just paste it in TW and it should execute here correctly as well.
However, as a kind advice for the future, aimed at helping others users understand your situation, whenever possible, please remember to be specific and share the specific error messages you're getting with as many details as possible, database names and versions etc. The more info, the better chances you'll have on getting help.