Sure! It's pretty much the same format as in the docs. Here's an example call to my developers table (without the Supabase base URL). This is a deeper join because tool_id in the developer_tools table is linked to records in the tools table.
/developers?profile_complete=eq.true&select=first_name,last_name,country_code,bio,developer_tools(tool_id:tools(name,tool_url))