Oracle 21c

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CREATE TABLE tableA (
  ID	int,
  PLACE	varchar(20),
  R_ID	int,
  M_ID int
);
insert into tableA
select 1,	'PLACE_1',	51,	53 from dual union all
select 2,	'PLACE_2',	52,	54 from dual;
2 rows affected

CREATE TABLE tableB (
  S_ID	int,
  NAME	varchar(20)
);
insert into tableB
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 a.ID, a.PLACE, b.NAME
FROM tableA a
INNER JOIN tableB b on a.R_ID = b.S_ID


ID
PLACE
NAME


1
PLACE_1
A

2
PLACE_2
B


SELECT a.ID, a.PLACE, b.NAME
FROM tableA a
INNER JOIN tableB b on a.M_ID = b.S_ID


ID
PLACE
NAME


1
PLACE_1
C

2
PLACE_2
D


with cte_r as ( 
  SELECT a.ID, a.PLACE, b.NAME
  FROM tableA a
  INNER JOIN tableB b on a.R_ID = b.S_ID
),
cte_m as (
  SELECT a.ID, a.PLACE, b.NAME
  FROM tableA a
  INNER JOIN tableB b on a.M_ID = b.S_ID
)
SELECT r.ID, r.PLACE, r.NAME as R_NAME, m.NAME as M_NAME
FROM cte_r r
LEFT JOIN cte_m m on r.ID = m.ID and r.PLACE = m.PLACE


ID
PLACE
R_NAME
M_NAME


1
PLACE_1
A
C

2
PLACE_2
B
D