Oracle 21c

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ALTER SESSION SET NLS_DATE_FORMAT = 'YYYY-MM-DD HH24:MI:SS';
CREATE TABLE Table_A (ID, PLACE, R_ID, M_ID) AS
SELECT 1, 'PLACE_1', 51, 53 FROM DUAL UNION ALL
SELECT 2, 'PLACE_2', 52, 54 FROM DUAL;
2 rows affected

CREATE TABLE Table_B (S_ID, NAME) AS
SELECT 51, 'A' FROM DUAL UNION ALL
SELECT 52, 'B' FROM DUAL UNION ALL
SELECT 53, 'C' FROM DUAL UNION ALL
SELECT 54, 'D' FROM DUAL;
4 rows affected

SELECT id,
       place,
       r.name as r_name,
       m.name as m_name
FROM   table_a a
       LEFT JOIN table_b r ON a.r_id = r.s_id
       LEFT JOIN table_b m ON a.m_id = m.s_id


ID
PLACE
R_NAME
M_NAME


1
PLACE_1
A
C

2
PLACE_2
B
D