I want to use CAML to query two lists that are connected by a lookup column. If I set the lookup column in List 1 to connect to the Title column of List 2, can I do a CAML query that joins them? Or do I have to connect the lookup column in List 1 to the ID column of List 2?

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Yes you can perform CAML query join even if you don't connect to ID. However, in the CAML Join property, the RefType will still remain "Id" and not Title.

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