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I'm Looking for a query builder that can assist me in creating CAML queries that will contain inner joins.

Does anything like this exist?

Update: To ask my question more clearly, I am looking for a software package that assists in writing these join queries more easily. Previously we had CAML Builder, but that doesn't support joins.

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Yes, this was a feature added in SharePoint 2010. Take a look at the SPQuery.Joins property, and here's an example by Tobias Zimmergren.

This is also possible using LINQ to SharePoint, which generates the appropriate CAML behind the scenes.

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    i found that linq to query has an issue in a high volume scenarios. Be careful and use with caution. – Roman Apr 4 '14 at 6:07

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