feat: support multiple joins without subqueries

Summarize the changes

• feat: support multiple joins without subqueries

• Closes #623 (closed)
• Documentation follow-up: docs#210 (closed)

Ensure that

• New code is covered by unit and integration tests.
• Related issues would be automatically closed with gitlab's closing pattern (Closes #1, #2).
• Public modules are documented (check the rendered version with cargo doc --open).
• (if PEST grammar is changed) EBNF grammar reflects these changes (check the result with railroad diagram generator.

Next steps

• Update sbroad submodule in picodata/picodata.
• (if EBNF grammar is changed) create a follow-up issue in picodata/docs.