OK, I gave the one-to-many queries a bit more thought, and the converse join query (getting each author with all their books, rather than all books each with their author) works nicely with a GROUP BY:

    type authorBookSQL = s.authors.SQL | s.books.SQL;
    type authorBookSelectable = s.authors.Selectable & { books: s.books.Selectable };

    const
      query = db.sql<authorBookSQL>`
        SELECT ${"authors"}.*, jsonb_agg(${"books"}.*) AS ${"books"}
        FROM ${"books"} JOIN ${"authors"} 
          ON ${"authors"}.${"id"} = ${"books"}.${"authorId"}
        GROUP BY ${"authors"}.${"id"}`,

      authorBooks: authorBookSelectable[] = await query.run(db.pool);

This exploits the fact that selecting all fields is, logically enough, permitted when grouping by primary key (https://www.postgresql.org/docs/current/sql-select.html#SQL-... and https://dba.stackexchange.com/questions/158015/why-can-i-sel...)

I'll update demo.ts and README shortly.