diff --git a/tsl/src/continuous_aggs/common.c b/tsl/src/continuous_aggs/common.c
index dd75061ef3b..14975cb039b 100644
--- a/tsl/src/continuous_aggs/common.c
+++ b/tsl/src/continuous_aggs/common.c
@@ -667,17 +667,12 @@ cagg_validate_query(const Query *query, const bool finalized, const char *cagg_s
 	CAggTimebucketInfo bucket_info = { 0 };
 	CAggTimebucketInfo bucket_info_parent = { 0 };
 	Hypertable *ht = NULL, *ht_parent = NULL;
-	RangeTblRef *rtref = NULL, *rtref_other = NULL;
-	RangeTblEntry *rte = NULL, *rte_other = NULL;
-	JoinType jointype = JOIN_FULL;
-	OpExpr *op = NULL;
-	List *fromList = NIL;
+	RangeTblEntry *rte = NULL;
 	StringInfo hint = makeStringInfo();
 	StringInfo detail = makeStringInfo();
 	bool is_hierarchical = false;
 	Query *prev_query = NULL;
 	ContinuousAgg *cagg_parent = NULL;
-	Oid normal_table_id = InvalidOid;
 
 	if (!cagg_query_supported(query, hint, detail, finalized))
 	{
@@ -688,146 +683,71 @@ cagg_validate_query(const Query *query, const bool finalized, const char *cagg_s
 				 detail->len > 0 ? errdetail("%s", detail->data) : 0));
 	}
 
-	/* Check if there are only two tables in the from list. */
-	fromList = query->jointree->fromlist;
-	if (list_length(fromList) > CONTINUOUS_AGG_MAX_JOIN_RELATIONS)
-	{
-		ereport(ERROR,
-				(errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
-				 errmsg("only two tables with one hypertable and one normal table "
-						"are allowed in continuous aggregate view")));
-	}
-	/* Extra checks for joins in Caggs. */
-	if (list_length(fromList) == CONTINUOUS_AGG_MAX_JOIN_RELATIONS ||
-		!IsA(linitial(query->jointree->fromlist), RangeTblRef))
+	int num_tables = 0, num_hypertables = 0;
+	ListCell *lc;
+	foreach (lc, query->rtable)
 	{
-		if (list_length(fromList) == CONTINUOUS_AGG_MAX_JOIN_RELATIONS)
+		RangeTblEntry *inner_rte = lfirst_node(RangeTblEntry, lc);
+
+		if (inner_rte->rtekind == RTE_RELATION)
 		{
-			if (!IsA(linitial(fromList), RangeTblRef) || !IsA(lsecond(fromList), RangeTblRef))
+			bool is_hypertable = ts_is_hypertable(inner_rte->relid) ||
+								 ts_continuous_agg_find_by_relid(inner_rte->relid);
+
+			if (is_hypertable)
+			{
+				num_hypertables++;
+				if (rte == NULL)
+					rte = copyObject(inner_rte);
+			}
+			else
+			{
+				num_tables++;
+			}
+
+			if (is_hypertable && inner_rte->inh == false)
 				ereport(ERROR,
 						(errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
 						 errmsg("invalid continuous aggregate view"),
 						 errdetail(
-							 "From clause can only have one hypertable and one normal table.")));
-
-			rtref = linitial_node(RangeTblRef, query->jointree->fromlist);
-			rte = list_nth(query->rtable, rtref->rtindex - 1);
-			rtref_other = lsecond_node(RangeTblRef, query->jointree->fromlist);
-			rte_other = list_nth(query->rtable, rtref_other->rtindex - 1);
-			jointype = rte->jointype || rte_other->jointype;
-
-			if (query->jointree->quals != NULL && IsA(query->jointree->quals, OpExpr))
-				op = (OpExpr *) query->jointree->quals;
-		}
-		else
-		{
-			ListCell *l;
-			foreach (l, query->jointree->fromlist)
-			{
-				Node *jtnode = (Node *) lfirst(l);
-				JoinExpr *join = NULL;
-				if (IsA(jtnode, JoinExpr))
-				{
-					join = castNode(JoinExpr, jtnode);
-					jointype = join->jointype;
-					op = (OpExpr *) join->quals;
-					rte = list_nth(query->rtable, ((RangeTblRef *) join->larg)->rtindex - 1);
-					rte_other = list_nth(query->rtable, ((RangeTblRef *) join->rarg)->rtindex - 1);
-					if (rte->subquery != NULL || rte_other->subquery != NULL)
-						ereport(ERROR,
-								(errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
-								 errmsg("invalid continuous aggregate view"),
-								 errdetail("Sub-queries are not supported in FROM clause.")));
-					RangeTblEntry *jrte = rt_fetch(join->rtindex, query->rtable);
-					if (jrte->joinaliasvars == NIL)
-						ereport(ERROR,
-								(errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
-								 errmsg("invalid continuous aggregate view")));
-				}
-			}
+							 "FROM ONLY on hypertables is not allowed in continuous aggregate.")));
 		}
 
-		/*
-		 * Error out if there is aynthing else than one normal table and one hypertable
-		 * in the from clause, e.g. sub-query, lateral, two hypertables, etc.
-		 */
-		if (rte->lateral || rte_other->lateral)
-			ereport(ERROR,
-					(errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
-					 errmsg("invalid continuous aggregate view"),
-					 errdetail("Lateral joins are not supported in FROM clause.")));
-		if ((rte->relkind == RELKIND_VIEW && ts_is_hypertable(rte_other->relid)) ||
-			(rte_other->relkind == RELKIND_VIEW && ts_is_hypertable(rte->relid)))
-			ereport(ERROR,
-					(errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
-					 errmsg("invalid continuous aggregate view"),
-					 errdetail("Views are not supported in FROM clause.")));
-		if (rte->relkind != RELKIND_VIEW && rte_other->relkind != RELKIND_VIEW &&
-			(ts_is_hypertable(rte->relid) == ts_is_hypertable(rte_other->relid)))
+		/* Only inner joins are allowed. */
+		if (inner_rte->jointype != JOIN_INNER && inner_rte->jointype != JOIN_LEFT)
 			ereport(ERROR,
 					(errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
-					 errmsg("invalid continuous aggregate view"),
-					 errdetail("Multiple hypertables or normal tables are not supported in FROM "
-							   "clause.")));
+					 errmsg("only INNER or LEFT joins are supported in continuous aggregates")));
 
-		/* Only inner joins are allowed. */
-		if (jointype != JOIN_INNER)
+		/* Subquery only using LATERAL */
+		if (inner_rte->subquery && !inner_rte->lateral)
 			ereport(ERROR,
 					(errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
-					 errmsg("only inner joins are supported in continuous aggregates")));
+					 errmsg("invalid continuous aggregate view"),
+					 errdetail("Sub-queries are not supported in FROM clause.")));
 
-		/* Only equality conditions are permitted on joins. */
-		if (op && IsA(op, OpExpr) &&
-			list_length(castNode(OpExpr, op)->args) == CONTINUOUS_AGG_MAX_JOIN_RELATIONS)
-		{
-			Oid left_type = exprType(linitial(op->args));
-			Oid right_type = exprType(lsecond(op->args));
-			if (!ts_is_equality_operator(op->opno, left_type, right_type))
-				ereport(ERROR,
-						(errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
-						 errmsg("invalid continuous aggregate view"),
-						 errdetail(
-							 "Only equality conditions are supported in continuous aggregates.")));
-		}
-		else
+		/* TABLESAMPLE not allowed */
+		if (inner_rte->tablesample)
 			ereport(ERROR,
 					(errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
 					 errmsg("invalid continuous aggregate view"),
-					 errdetail("Unsupported expression in join clause."),
-					 errhint("Only equality conditions are supported in continuous aggregates.")));
-		/*
-		 * Record the table oid of the normal table. This is required so
-		 * that we know which one is hypertable to carry out the related
-		 * processing in later parts of code.
-		 */
-		if (rte->relkind == RELKIND_VIEW)
-			normal_table_id = rte_other->relid;
-		else if (rte_other->relkind == RELKIND_VIEW)
-			normal_table_id = rte->relid;
-		else
-			normal_table_id = ts_is_hypertable(rte->relid) ? rte_other->relid : rte->relid;
-		if (normal_table_id == rte->relid)
-			rte = rte_other;
+					 errdetail("TABLESAMPLE is not supported in continuous aggregate.")));
 	}
-	else
-	{
-		/* Check if we have a hypertable in the FROM clause. */
-		rtref = linitial_node(RangeTblRef, query->jointree->fromlist);
-		rte = list_nth(query->rtable, rtref->rtindex - 1);
-	}
-	/* FROM only <tablename> sets rte->inh to false. */
-	if (rte->rtekind != RTE_JOIN)
+
+	if (num_hypertables > 1)
+		ereport(ERROR,
+				(errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
+				 errmsg("invalid continuous aggregate view"),
+				 errdetail("Only one hypertable is allowed in continuous aggregate view.")));
+
+	if (rte == NULL)
 	{
-		if ((rte->relkind != RELKIND_RELATION && rte->relkind != RELKIND_VIEW) ||
-			rte->tablesample || rte->inh == false)
-			ereport(ERROR,
-					(errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
-					 errmsg("invalid continuous aggregate view")));
+		ereport(ERROR,
+				(errcode(ERRCODE_FEATURE_NOT_SUPPORTED),
+				 errmsg("invalid continuous aggregate view"),
+				 errdetail("At least one hypertable should be used in the view definition.")));
 	}
 
-	Ensure(rte->relkind == RELKIND_RELATION || rte->relkind == RELKIND_VIEW,
-		   "invalid continuous aggregate view");
-
 	const Dimension *part_dimension = NULL;
 	int32 parent_mat_hypertable_id = INVALID_HYPERTABLE_ID;
 	Cache *hcache = ts_hypertable_cache_pin();
diff --git a/tsl/test/expected/cagg_errors.out b/tsl/test/expected/cagg_errors.out
index 5fdef687437..6e3eb5f324a 100644
--- a/tsl/test/expected/cagg_errors.out
+++ b/tsl/test/expected/cagg_errors.out
@@ -37,7 +37,8 @@ CREATE MATERIALIZED VIEW mat_m1 WITH (timescaledb.continuous, timescaledb.materi
 as
 select a, count(*) from mat_t1
 group by a WITH NO DATA;
-ERROR:  table "mat_t1" is not a hypertable
+ERROR:  invalid continuous aggregate view
+DETAIL:  At least one hypertable should be used in the view definition.
 -- no group by
 CREATE MATERIALIZED VIEW mat_m1 WITH (timescaledb.continuous, timescaledb.materialized_only=false)
 as
@@ -119,6 +120,7 @@ from
 from conditions ) q
  group by time_bucket('1week', timec) , location  WITH NO DATA;
 ERROR:  invalid continuous aggregate view
+DETAIL:  Sub-queries are not supported in FROM clause.
 CREATE MATERIALIZED VIEW mat_m1 WITH (timescaledb.continuous, timescaledb.materialized_only=false)
 AS
 select * from
@@ -194,6 +196,7 @@ from conditions tablesample bernoulli(0.2)
  group by time_bucket('1week', timec) , location
  WITH NO DATA;
 ERROR:  invalid continuous aggregate view
+DETAIL:  TABLESAMPLE is not supported in continuous aggregate.
 -- ONLY in from clause
 CREATE MATERIALIZED VIEW mat_m1 WITH (timescaledb.continuous, timescaledb.materialized_only=false)
 AS
@@ -201,6 +204,7 @@ Select sum(humidity), avg(temperature::int4)
 from ONLY conditions
  group by time_bucket('1week', timec) , location  WITH NO DATA;
 ERROR:  invalid continuous aggregate view
+DETAIL:  FROM ONLY on hypertables is not allowed in continuous aggregate.
 --grouping sets and variants
 CREATE MATERIALIZED VIEW mat_m1 WITH (timescaledb.continuous, timescaledb.materialized_only=false)
 AS
@@ -645,7 +649,7 @@ ERROR:  compression not enabled on "i2980"
 -- cagg on normal view should error out
 CREATE VIEW v1 AS SELECT now() AS time;
 CREATE MATERIALIZED VIEW cagg1 WITH (timescaledb.continuous, timescaledb.materialized_only=false) AS SELECT time_bucket('1h',time) FROM v1 GROUP BY 1;
-ERROR:  invalid continuous aggregate query
+ERROR:  invalid continuous aggregate view
 -- cagg on normal view should error out
 CREATE MATERIALIZED VIEW matv1 AS SELECT now() AS time;
 CREATE MATERIALIZED VIEW cagg1 WITH (timescaledb.continuous, timescaledb.materialized_only=false) AS SELECT time_bucket('1h',time) FROM matv1 GROUP BY 1;
diff --git a/tsl/test/expected/cagg_joins.out b/tsl/test/expected/cagg_joins.out
index 5f097fbcb7f..2fcc19d0f93 100644
--- a/tsl/test/expected/cagg_joins.out
+++ b/tsl/test/expected/cagg_joins.out
@@ -1,20 +1,17 @@
 -- This file and its contents are licensed under the Timescale License.
 -- Please see the included NOTICE for copyright information and
 -- LICENSE-TIMESCALE for a copy of the license.
-\set ON_ERROR_STOP 0
 \set VERBOSITY default
 CREATE TABLE conditions(
   day TIMESTAMPTZ NOT NULL,
   city text NOT NULL,
   temperature INT NOT NULL,
-device_id int NOT NULL);
-SELECT create_hypertable(
-  'conditions', 'day',
-  chunk_time_interval => INTERVAL '1 day'
+  device_id int NOT NULL
 );
-    create_hypertable    
--------------------------
- (1,public,conditions,t)
+SELECT table_name FROM create_hypertable('conditions', 'day', chunk_time_interval => INTERVAL '1 day');
+ table_name 
+------------
+ conditions
 (1 row)
 
 INSERT INTO conditions (day, city, temperature, device_id) VALUES
@@ -33,25 +30,22 @@ INSERT INTO conditions (day, city, temperature, device_id) VALUES
   ('2021-06-26', 'Moscow', 32,3),
   ('2021-06-27', 'Moscow', 31,3);
 CREATE TABLE conditions_dup AS SELECT * FROM conditions;
-SELECT create_hypertable(
-  'conditions_dup', 'day',
-  chunk_time_interval => INTERVAL '1 day',
-  migrate_data => true
-);
+SELECT table_name FROM create_hypertable('conditions_dup', 'day', chunk_time_interval => INTERVAL '1 day', migrate_data => true);
 NOTICE:  adding not-null constraint to column "day"
 DETAIL:  Dimensions cannot have NULL values.
 NOTICE:  migrating data to chunks
 DETAIL:  Migration might take a while depending on the amount of data.
-      create_hypertable      
------------------------------
- (2,public,conditions_dup,t)
+   table_name   
+----------------
+ conditions_dup
 (1 row)
 
 CREATE TABLE devices ( device_id int not null, name text, location text);
 INSERT INTO devices values (1, 'thermo_1', 'Moscow'), (2, 'thermo_2', 'Berlin'),(3, 'thermo_3', 'London'),(4, 'thermo_4', 'Stockholm');
+CREATE TABLE location (location_id INTEGER, name TEXT);
+INSERT INTO location VALUES (1, 'Moscow'), (2, 'Berlin'), (3, 'London'), (4, 'Stockholm');
 CREATE TABLE devices_dup AS SELECT * FROM devices;
 CREATE VIEW devices_view AS SELECT * FROM devices;
--- Working cases
 -- Cagg with inner join + realtime  aggregate
 CREATE MATERIALIZED VIEW cagg_realtime
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
@@ -289,7 +283,7 @@ SELECT * FROM cagg_realtime_using ORDER BY bucket, name;
 (15 rows)
 
 -- Reorder tables in FROM clause
--- Cagg with inner join + realtime  aggregate
+-- Cagg with inner join + realtime aggregate
 CREATE MATERIALIZED VIEW cagg_realtime_reorder
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -730,7 +724,39 @@ SELECT * FROM cagg_reorder_using;
  Wed Jun 30 17:00:00 2021 PDT | 28.0000000000000000 | thermo_3
 (16 rows)
 
---Create CAgg with join and additional WHERE conditions
+-- Cagg join with another table using FROM ONLY
+CREATE MATERIALIZED VIEW cagg_from_only
+WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
+SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
+   AVG(temperature),
+   name
+FROM ONLY devices JOIN conditions USING (device_id)
+GROUP BY name, bucket
+ORDER BY bucket;
+NOTICE:  refreshing continuous aggregate "cagg_from_only"
+HINT:  Use WITH NO DATA if you do not want to refresh the continuous aggregate on creation.
+SELECT * FROM cagg_from_only;
+            bucket            |         avg         |   name   
+------------------------------+---------------------+----------
+ Sun Jun 13 17:00:00 2021 PDT | 26.0000000000000000 | thermo_1
+ Mon Jun 14 17:00:00 2021 PDT | 22.0000000000000000 | thermo_2
+ Tue Jun 15 17:00:00 2021 PDT | 24.0000000000000000 | thermo_3
+ Wed Jun 16 17:00:00 2021 PDT | 24.0000000000000000 | thermo_4
+ Thu Jun 17 17:00:00 2021 PDT | 27.0000000000000000 | thermo_4
+ Fri Jun 18 17:00:00 2021 PDT | 28.0000000000000000 | thermo_4
+ Sat Jun 19 17:00:00 2021 PDT | 30.0000000000000000 | thermo_1
+ Sun Jun 20 17:00:00 2021 PDT | 31.0000000000000000 | thermo_1
+ Mon Jun 21 17:00:00 2021 PDT | 34.0000000000000000 | thermo_1
+ Tue Jun 22 17:00:00 2021 PDT | 34.0000000000000000 | thermo_2
+ Wed Jun 23 17:00:00 2021 PDT | 34.0000000000000000 | thermo_2
+ Thu Jun 24 17:00:00 2021 PDT | 32.0000000000000000 | thermo_3
+ Fri Jun 25 17:00:00 2021 PDT | 32.0000000000000000 | thermo_3
+ Sat Jun 26 17:00:00 2021 PDT | 31.0000000000000000 | thermo_3
+ Tue Jun 29 17:00:00 2021 PDT | 28.0000000000000000 | thermo_3
+ Wed Jun 30 17:00:00 2021 PDT | 28.0000000000000000 | thermo_3
+(16 rows)
+
+-- Create CAgg with join and additional WHERE conditions
 CREATE MATERIALIZED VIEW cagg_more_conds
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -749,7 +775,7 @@ SELECT * FROM cagg_more_conds ORDER BY bucket;
  Thu Jun 24 17:00:00 2021 PDT | 32.0000000000000000 | thermo_3
 (2 rows)
 
---Cagg with more conditions and USING clause
+-- Cagg with more conditions and USING clause
 CREATE MATERIALIZED VIEW cagg_more_conds_using
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -768,7 +794,7 @@ SELECT * FROM cagg_more_conds_using ORDER BY bucket;
  Thu Jun 24 17:00:00 2021 PDT | 32.0000000000000000 | thermo_3
 (2 rows)
 
--- Nested CAgg over a CAgg with join
+-- Hierarchical CAgg with join
 CREATE MATERIALIZED VIEW cagg_on_cagg
 WITH (timescaledb.continuous, timescaledb.materialized_only=true) AS
 SELECT time_bucket(INTERVAL '1 day', bucket) AS bucket,
@@ -801,8 +827,8 @@ SELECT * FROM cagg_on_cagg;
 
 DROP MATERIALIZED VIEW cagg_on_cagg CASCADE;
 NOTICE:  drop cascades to 2 other objects
-DETAIL:  drop cascades to table _timescaledb_internal._hyper_17_59_chunk
-drop cascades to table _timescaledb_internal._hyper_17_60_chunk
+DETAIL:  drop cascades to table _timescaledb_internal._hyper_18_61_chunk
+drop cascades to table _timescaledb_internal._hyper_18_62_chunk
 -- Nested CAgg over a CAgg with JOIN clause
 CREATE MATERIALIZED VIEW cagg_on_cagg_join
 WITH (timescaledb.continuous, timescaledb.materialized_only=true) AS
@@ -836,9 +862,9 @@ SELECT * FROM cagg_on_cagg_join;
 
 DROP MATERIALIZED VIEW cagg_on_cagg_join CASCADE;
 NOTICE:  drop cascades to 2 other objects
-DETAIL:  drop cascades to table _timescaledb_internal._hyper_18_61_chunk
-drop cascades to table _timescaledb_internal._hyper_18_62_chunk
---Create CAgg with join and ORDER BY
+DETAIL:  drop cascades to table _timescaledb_internal._hyper_19_63_chunk
+drop cascades to table _timescaledb_internal._hyper_19_64_chunk
+-- Create CAgg with join and ORDER BY
 CREATE MATERIALIZED VIEW cagg_ordered
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -919,10 +945,9 @@ NOTICE:  refreshing continuous aggregate "cagg_nested"
 HINT:  Use WITH NO DATA if you do not want to refresh the continuous aggregate on creation.
 DROP MATERIALIZED VIEW cagg_nested CASCADE;
 NOTICE:  drop cascades to 2 other objects
-DETAIL:  drop cascades to table _timescaledb_internal._hyper_23_71_chunk
-drop cascades to table _timescaledb_internal._hyper_23_72_chunk
---Error cases
---CAgg with multiple join conditions without JOIN clause
+DETAIL:  drop cascades to table _timescaledb_internal._hyper_24_73_chunk
+drop cascades to table _timescaledb_internal._hyper_24_74_chunk
+-- CAgg with multiple join conditions without JOIN clause
 CREATE MATERIALIZED VIEW cagg_more_joins_conds
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -934,19 +959,18 @@ FROM conditions JOIN devices ON conditions.device_id = devices.device_id
 AND conditions.city = devices.location AND
       conditions.temperature > 28
 GROUP BY name, bucket;
-ERROR:  invalid continuous aggregate view
-DETAIL:  Unsupported expression in join clause.
-HINT:  Only equality conditions are supported in continuous aggregates.
-CREATE  TABLE mat_t1( a integer, b integer,c TEXT);
---With LATERAL multiple tables in new format
+NOTICE:  refreshing continuous aggregate "cagg_more_joins_conds"
+HINT:  Use WITH NO DATA if you do not want to refresh the continuous aggregate on creation.
+-- With LATERAL multiple tables in new format
+CREATE TABLE mat_t1(a integer, b integer, c TEXT);
 CREATE MATERIALIZED VIEW mat_m1 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE)
-as
-select temperature, count(*) from conditions,
-LATERAL (Select * from mat_t1 where a = conditions.temperature) q
-group by temperature WITH NO DATA;
-ERROR:  invalid continuous aggregate view
-DETAIL:  Lateral joins are not supported in FROM clause.
---With FROM clause has view
+AS
+SELECT time_bucket(INTERVAL '1 day', day) AS bucket, temperature, count(*) from conditions,
+LATERAL (SELECT * FROM mat_t1 WHERE mat_t1.a = conditions.temperature) q
+GROUP BY bucket, temperature;
+NOTICE:  refreshing continuous aggregate "mat_m1"
+HINT:  Use WITH NO DATA if you do not want to refresh the continuous aggregate on creation.
+-- Joining a hypertable and view
 CREATE MATERIALIZED VIEW cagg_view
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -956,11 +980,12 @@ SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
 FROM conditions, devices_view
 WHERE conditions.device_id = devices_view.device_id
 GROUP BY name, bucket, devices_view.device_id;
-ERROR:  invalid continuous aggregate view
-DETAIL:  Views are not supported in FROM clause.
+NOTICE:  refreshing continuous aggregate "cagg_view"
+HINT:  Use WITH NO DATA if you do not want to refresh the continuous aggregate on creation.
 CREATE TABLE cities(name text, currency text);
 INSERT INTO cities VALUES ('Berlin', 'EUR'), ('London', 'PND');
 --Error out when FROM clause has sub selects
+\set ON_ERROR_STOP 0
 CREATE MATERIALIZED VIEW conditions_summary_subselect
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -1036,7 +1061,7 @@ FROM conditions, conditions_dup
 WHERE conditions.device_id = conditions_dup.device_id
 GROUP BY bucket;
 ERROR:  invalid continuous aggregate view
-DETAIL:  Multiple hypertables or normal tables are not supported in FROM clause.
+DETAIL:  Only one hypertable is allowed in continuous aggregate view.
 --Error out when join is between two normal tables
 CREATE MATERIALIZED VIEW cagg_nt
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
@@ -1047,9 +1072,10 @@ FROM devices, devices_dup
 WHERE devices.device_id = devices_dup.device_id
 GROUP BY devices.name, devices.location;
 ERROR:  invalid continuous aggregate view
-DETAIL:  Multiple hypertables or normal tables are not supported in FROM clause.
---Error out when join is on non-equality condition
-CREATE MATERIALIZED VIEW cagg_unequal
+DETAIL:  At least one hypertable should be used in the view definition.
+\set ON_ERROR_STOP 1
+-- JOIN with non-equality condition
+CREATE MATERIALIZED VIEW cagg_unequal1
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
    AVG(temperature),
@@ -1057,10 +1083,10 @@ SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
 FROM conditions, devices
 WHERE conditions.device_id <> devices.device_id
 GROUP BY name, bucket;
-ERROR:  invalid continuous aggregate view
-DETAIL:  Only equality conditions are supported in continuous aggregates.
---Unsupported join condition
-CREATE MATERIALIZED VIEW cagg_unequal
+NOTICE:  refreshing continuous aggregate "cagg_unequal1"
+HINT:  Use WITH NO DATA if you do not want to refresh the continuous aggregate on creation.
+-- JOIN with non-equality condition
+CREATE MATERIALIZED VIEW cagg_unequal2
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
    AVG(temperature),
@@ -1069,23 +1095,21 @@ FROM conditions, devices
 WHERE conditions.device_id = devices.device_id AND
       conditions.city like '%cow*'
 GROUP BY name, bucket;
-ERROR:  invalid continuous aggregate view
-DETAIL:  Unsupported expression in join clause.
-HINT:  Only equality conditions are supported in continuous aggregates.
---Unsupported join condition
-CREATE MATERIALIZED VIEW cagg_unequal
+NOTICE:  refreshing continuous aggregate "cagg_unequal2"
+HINT:  Use WITH NO DATA if you do not want to refresh the continuous aggregate on creation.
+-- JOIN with non-equality condition
+CREATE MATERIALIZED VIEW cagg_unequal3
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
    AVG(temperature),
    name
-FROM conditions, devices
-WHERE conditions.device_id = devices.device_id OR
-      conditions.city like '%cow*'
+FROM conditions
+JOIN devices ON conditions.device_id = devices.device_id OR conditions.city LIKE '%cow*'
 GROUP BY name, bucket;
-ERROR:  invalid continuous aggregate view
-DETAIL:  Unsupported expression in join clause.
-HINT:  Only equality conditions are supported in continuous aggregates.
---Error out when join type is not inner
+NOTICE:  refreshing continuous aggregate "cagg_unequal3"
+HINT:  Use WITH NO DATA if you do not want to refresh the continuous aggregate on creation.
+-- Error out when join type is not INNER or LEFT
+\set ON_ERROR_STOP 0
 CREATE MATERIALIZED VIEW cagg_outer
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -1094,8 +1118,19 @@ SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
 FROM conditions FULL JOIN devices
 ON conditions.device_id = devices.device_id
 GROUP BY name, bucket;
-ERROR:  only inner joins are supported in continuous aggregates
-CREATE MATERIALIZED VIEW cagg_outer
+ERROR:  only INNER or LEFT joins are supported in continuous aggregates
+CREATE MATERIALIZED VIEW cagg_right
+WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
+SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
+   AVG(temperature),
+   name
+FROM conditions RIGHT JOIN devices
+ON conditions.device_id = devices.device_id
+GROUP BY name, bucket;
+ERROR:  only INNER or LEFT joins are supported in continuous aggregates
+\set ON_ERROR_STOP 1
+-- LEFT JOIN is allowed
+CREATE MATERIALIZED VIEW cagg_left_join
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
    AVG(temperature),
@@ -1103,8 +1138,10 @@ SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
 FROM conditions LEFT JOIN devices
 ON conditions.device_id = devices.device_id
 GROUP BY name, bucket;
-ERROR:  only inner joins are supported in continuous aggregates
---Error out for join between cagg and hypertable
+NOTICE:  refreshing continuous aggregate "cagg_left_join"
+HINT:  Use WITH NO DATA if you do not want to refresh the continuous aggregate on creation.
+-- Error out for join between cagg and hypertable
+\set ON_ERROR_STOP 0
 CREATE MATERIALIZED VIEW cagg_nested_ht
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', cagg.bucket) AS bucket,
@@ -1114,32 +1151,56 @@ FROM cagg_cagg cagg, conditions
 WHERE cagg.device_id = conditions.device_id
 GROUP BY 1,2,3;
 ERROR:  invalid continuous aggregate view
-DETAIL:  Views are not supported in FROM clause.
+DETAIL:  Only one hypertable is allowed in continuous aggregate view.
+\set ON_ERROR_STOP 1
+-- Multiple JOINS are supported
+CREATE MATERIALIZED VIEW conditions_by_day WITH (timescaledb.continuous) AS
+SELECT time_bucket(INTERVAL '1 day', conditions.day) AS bucket,
+   AVG(conditions.temperature),
+   devices.name AS device,
+   location.name AS location
+FROM conditions
+JOIN devices ON conditions.device_id = devices.device_id
+JOIN location ON location.name = devices.location
+GROUP BY bucket, devices.name, location.name;
+NOTICE:  refreshing continuous aggregate "conditions_by_day"
+HINT:  Use WITH NO DATA if you do not want to refresh the continuous aggregate on creation.
+-- JOIN with a foreign table
+\c :TEST_DBNAME :ROLE_SUPERUSER
+SELECT current_setting('port') AS "PGPORT", current_database() AS "PGDATABASE" \gset
+CREATE EXTENSION postgres_fdw;
+CREATE SERVER loopback
+   FOREIGN DATA WRAPPER postgres_fdw
+   OPTIONS (host 'localhost', dbname :'PGDATABASE', port :'PGPORT');
+CREATE USER MAPPING FOR :ROLE_DEFAULT_PERM_USER
+   SERVER loopback
+   OPTIONS (user :'ROLE_DEFAULT_PERM_USER', password 'nopassword');
+ALTER USER MAPPING FOR :ROLE_DEFAULT_PERM_USER
+   SERVER loopback
+   OPTIONS (ADD password_required 'false');
+GRANT USAGE ON FOREIGN SERVER loopback TO :ROLE_DEFAULT_PERM_USER;
+\c :TEST_DBNAME :ROLE_DEFAULT_PERM_USER;
+CREATE FOREIGN TABLE devices_fdw (
+   device_id int not null,
+   name text,
+   location text
+) SERVER loopback OPTIONS (table_name 'devices');
+CREATE MATERIALIZED VIEW conditions_fdw WITH (timescaledb.continuous) AS
+SELECT time_bucket(INTERVAL '1 day', conditions.day) AS bucket,
+   AVG(conditions.temperature),
+   devices.name AS device
+FROM conditions
+JOIN devices_fdw AS devices ON conditions.device_id = devices.device_id
+GROUP BY bucket, devices.name;
+NOTICE:  refreshing continuous aggregate "conditions_fdw"
+HINT:  Use WITH NO DATA if you do not want to refresh the continuous aggregate on creation.
 \set VERBOSITY terse
+SET client_min_messages TO WARNING;
 DROP TABLE conditions CASCADE;
-NOTICE:  drop cascades to 51 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
-NOTICE:  drop cascades to 2 other objects
 DROP TABLE devices CASCADE;
-NOTICE:  drop cascades to view devices_view
 DROP TABLE conditions_dup CASCADE;
 DROP TABLE devices_dup CASCADE;
+RESET client_min_messages;
 \set VERBOSITY default
 -- SDC #1859
 CREATE TABLE conditions(
@@ -1147,10 +1208,10 @@ CREATE TABLE conditions(
   value FLOAT8 NOT NULL,
   device_id int NOT NULL
 );
-SELECT create_hypertable('conditions', 'time', chunk_time_interval => INTERVAL '1 day');
-    create_hypertable     
---------------------------
- (24,public,conditions,t)
+SELECT table_name FROM create_hypertable('conditions', 'time', chunk_time_interval => INTERVAL '1 day');
+ table_name 
+------------
+ conditions
 (1 row)
 
 INSERT INTO conditions (time, value, device_id)
@@ -1180,6 +1241,7 @@ SELECT a.* FROM cagg_realtime a WHERE a.location = 'Moscow' ORDER BY bucket LIMI
 (2 rows)
 
 \set VERBOSITY terse
+SET client_min_messages TO WARNING;
 DROP TABLE conditions CASCADE;
-NOTICE:  drop cascades to 3 other objects
 DROP TABLE devices CASCADE;
+RESET client_min_messages;
diff --git a/tsl/test/expected/cagg_utils.out b/tsl/test/expected/cagg_utils.out
index 5b75ad0c16e..e4f15702aac 100644
--- a/tsl/test/expected/cagg_utils.out
+++ b/tsl/test/expected/cagg_utils.out
@@ -123,9 +123,9 @@ SELECT * FROM cagg_validate_query($$ SELECT 1 FROM pg_catalog.pg_class $$);
 (1 row)
 
 SELECT * FROM cagg_validate_query($$ SELECT relkind, count(*) FROM pg_catalog.pg_class GROUP BY 1 $$);
- is_valid | error_level | error_code |            error_message             | error_detail | error_hint 
-----------+-------------+------------+--------------------------------------+--------------+------------
- f        | ERROR       | TS001      | table "pg_class" is not a hypertable |              | 
+ is_valid | error_level | error_code |           error_message           |                          error_detail                          | error_hint 
+----------+-------------+------------+-----------------------------------+----------------------------------------------------------------+------------
+ f        | ERROR       | 0A000      | invalid continuous aggregate view | At least one hypertable should be used in the view definition. | 
 (1 row)
 
 -- time_bucket with offset is not allowed
@@ -158,33 +158,33 @@ SELECT * FROM cagg_validate_query($$ SELECT time_bucket_gapfill('1 hour', "time"
 
 -- invalid join queries
 SELECT * FROM cagg_validate_query($$ SELECT time_bucket('1 hour', a."time"), count(*) FROM metrics a, metrics b GROUP BY 1 $$);
- is_valid | error_level | error_code |           error_message           |                              error_detail                               | error_hint 
-----------+-------------+------------+-----------------------------------+-------------------------------------------------------------------------+------------
- f        | ERROR       | 0A000      | invalid continuous aggregate view | Multiple hypertables or normal tables are not supported in FROM clause. | 
+ is_valid | error_level | error_code |           error_message           |                         error_detail                         | error_hint 
+----------+-------------+------------+-----------------------------------+--------------------------------------------------------------+------------
+ f        | ERROR       | 0A000      | invalid continuous aggregate view | Only one hypertable is allowed in continuous aggregate view. | 
 (1 row)
 
 SELECT * FROM cagg_validate_query($$ SELECT time_bucket('1 hour', "time"), count(*) FROM metrics, devices a, devices b GROUP BY 1 $$);
- is_valid | error_level | error_code |                                           error_message                                           | error_detail | error_hint 
-----------+-------------+------------+---------------------------------------------------------------------------------------------------+--------------+------------
- f        | ERROR       | 0A000      | only two tables with one hypertable and one normal table are allowed in continuous aggregate view |              | 
+ is_valid | error_level | error_code | error_message | error_detail | error_hint 
+----------+-------------+------------+---------------+--------------+------------
+ t        |             |            |               |              | 
 (1 row)
 
 SELECT * FROM cagg_validate_query($$ SELECT time_bucket('1 hour', "time"), device_id, count(*) FROM metrics LEFT JOIN devices ON id = device_id GROUP BY 1, 2 $$);
- is_valid | error_level | error_code |                      error_message                      | error_detail | error_hint 
-----------+-------------+------------+---------------------------------------------------------+--------------+------------
- f        | ERROR       | 0A000      | only inner joins are supported in continuous aggregates |              | 
+ is_valid | error_level | error_code | error_message | error_detail | error_hint 
+----------+-------------+------------+---------------+--------------+------------
+ t        |             |            |               |              | 
 (1 row)
 
 SELECT * FROM cagg_validate_query($$ SELECT time_bucket('1 hour', "time"), device_id, count(*) FROM metrics JOIN devices ON id = device_id AND name = 'foo' GROUP BY 1, 2 $$);
- is_valid | error_level | error_code |           error_message           |              error_detail              |                            error_hint                            
-----------+-------------+------------+-----------------------------------+----------------------------------------+------------------------------------------------------------------
- f        | ERROR       | 0A000      | invalid continuous aggregate view | Unsupported expression in join clause. | Only equality conditions are supported in continuous aggregates.
+ is_valid | error_level | error_code | error_message | error_detail | error_hint 
+----------+-------------+------------+---------------+--------------+------------
+ t        |             |            |               |              | 
 (1 row)
 
 SELECT * FROM cagg_validate_query($$ SELECT time_bucket('1 hour', "time"), device_id, count(*) FROM metrics JOIN devices ON id < device_id GROUP BY 1, 2 $$);
- is_valid | error_level | error_code |           error_message           |                           error_detail                           | error_hint 
-----------+-------------+------------+-----------------------------------+------------------------------------------------------------------+------------
- f        | ERROR       | 0A000      | invalid continuous aggregate view | Only equality conditions are supported in continuous aggregates. | 
+ is_valid | error_level | error_code | error_message | error_detail | error_hint 
+----------+-------------+------------+---------------+--------------+------------
+ t        |             |            |               |              | 
 (1 row)
 
 -- invalid caggs on caggs
diff --git a/tsl/test/sql/cagg_joins.sql b/tsl/test/sql/cagg_joins.sql
index 40598528046..4d0e2ffc8f4 100644
--- a/tsl/test/sql/cagg_joins.sql
+++ b/tsl/test/sql/cagg_joins.sql
@@ -2,18 +2,15 @@
 -- Please see the included NOTICE for copyright information and
 -- LICENSE-TIMESCALE for a copy of the license.
 
-\set ON_ERROR_STOP 0
 \set VERBOSITY default
 
 CREATE TABLE conditions(
   day TIMESTAMPTZ NOT NULL,
   city text NOT NULL,
   temperature INT NOT NULL,
-device_id int NOT NULL);
-SELECT create_hypertable(
-  'conditions', 'day',
-  chunk_time_interval => INTERVAL '1 day'
+  device_id int NOT NULL
 );
+SELECT table_name FROM create_hypertable('conditions', 'day', chunk_time_interval => INTERVAL '1 day');
 INSERT INTO conditions (day, city, temperature, device_id) VALUES
   ('2021-06-14', 'Moscow', 26,1),
   ('2021-06-15', 'Berlin', 22,2),
@@ -31,20 +28,18 @@ INSERT INTO conditions (day, city, temperature, device_id) VALUES
   ('2021-06-27', 'Moscow', 31,3);
 
 CREATE TABLE conditions_dup AS SELECT * FROM conditions;
-SELECT create_hypertable(
-  'conditions_dup', 'day',
-  chunk_time_interval => INTERVAL '1 day',
-  migrate_data => true
-);
+SELECT table_name FROM create_hypertable('conditions_dup', 'day', chunk_time_interval => INTERVAL '1 day', migrate_data => true);
+
 CREATE TABLE devices ( device_id int not null, name text, location text);
 INSERT INTO devices values (1, 'thermo_1', 'Moscow'), (2, 'thermo_2', 'Berlin'),(3, 'thermo_3', 'London'),(4, 'thermo_4', 'Stockholm');
 
+CREATE TABLE location (location_id INTEGER, name TEXT);
+INSERT INTO location VALUES (1, 'Moscow'), (2, 'Berlin'), (3, 'London'), (4, 'Stockholm');
+
 CREATE TABLE devices_dup AS SELECT * FROM devices;
 CREATE VIEW devices_view AS SELECT * FROM devices;
 
--- Working cases
 -- Cagg with inner join + realtime  aggregate
-
 CREATE MATERIALIZED VIEW cagg_realtime
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -64,7 +59,6 @@ INSERT INTO conditions (day, city, temperature, device_id) VALUES
 SELECT * FROM cagg_realtime ORDER BY bucket, name;
 
 -- Cagg with inner join + realtime  aggregate + JOIN clause
-
 CREATE MATERIALIZED VIEW cagg_realtime_join
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -84,7 +78,6 @@ INSERT INTO conditions (day, city, temperature, device_id) VALUES
 SELECT * FROM cagg_realtime_join ORDER BY bucket, name;
 
 -- Cagg with inner join + realtime  aggregate + USING clause
-
 CREATE MATERIALIZED VIEW cagg_realtime_using
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -104,8 +97,7 @@ INSERT INTO conditions (day, city, temperature, device_id) VALUES
 SELECT * FROM cagg_realtime_using ORDER BY bucket, name;
 
 -- Reorder tables in FROM clause
--- Cagg with inner join + realtime  aggregate
-
+-- Cagg with inner join + realtime aggregate
 CREATE MATERIALIZED VIEW cagg_realtime_reorder
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -126,7 +118,6 @@ SELECT * FROM cagg_realtime_reorder ORDER BY bucket, name;
 
 -- Reorder tables in FROM clause
 -- Cagg with inner join + realtime  aggregate + JOIN clause
-
 CREATE MATERIALIZED VIEW cagg_realtime_reorder_join
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -148,7 +139,6 @@ FROM cagg_realtime_reorder_join;
 
 -- Reorder tables in FROM clause
 -- Cagg with inner join + realtime  aggregate + USING clause
-
 CREATE MATERIALIZED VIEW cagg_realtime_reorder_using
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -168,7 +158,6 @@ INSERT INTO conditions (day, city, temperature, device_id) VALUES
 SELECT * FROM cagg_realtime_reorder_using ORDER BY bucket, name;
 
 -- Cagg with inner joins - realtime aggregate
-
 CREATE MATERIALIZED VIEW cagg
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -183,7 +172,6 @@ ORDER BY bucket;
 SELECT * FROM cagg ORDER BY bucket, name, thermo_id;
 
 -- Cagg with inner joins - realtime aggregate + JOIN clause
-
 CREATE MATERIALIZED VIEW cagg_join
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -196,7 +184,6 @@ ORDER BY bucket;
 SELECT * FROM cagg_join ORDER BY bucket, name;
 
 -- Cagg with inner joins - realtime aggregate + USING clause
-
 CREATE MATERIALIZED VIEW cagg_using
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -210,7 +197,6 @@ SELECT * FROM cagg_using;
 
 -- Reorder tables in FROM clause
 -- Cagg with inner joins - realtime aggregate
-
 CREATE MATERIALIZED VIEW cagg_reorder
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -224,7 +210,6 @@ ORDER BY bucket;
 SELECT * FROM cagg_reorder ORDER BY bucket, name;
 
 -- Cagg with inner joins - realtime aggregate + JOIN clause
-
 CREATE MATERIALIZED VIEW cagg_reorder_join
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -237,7 +222,6 @@ ORDER BY bucket;
 SELECT * FROM cagg_reorder_join;
 
 -- Cagg with inner joins - realtime aggregate + USING clause
-
 CREATE MATERIALIZED VIEW cagg_reorder_using
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -249,8 +233,19 @@ ORDER BY bucket;
 
 SELECT * FROM cagg_reorder_using;
 
---Create CAgg with join and additional WHERE conditions
+-- Cagg join with another table using FROM ONLY
+CREATE MATERIALIZED VIEW cagg_from_only
+WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
+SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
+   AVG(temperature),
+   name
+FROM ONLY devices JOIN conditions USING (device_id)
+GROUP BY name, bucket
+ORDER BY bucket;
+
+SELECT * FROM cagg_from_only;
 
+-- Create CAgg with join and additional WHERE conditions
 CREATE MATERIALIZED VIEW cagg_more_conds
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -263,8 +258,7 @@ GROUP BY name, bucket;
 
 SELECT * FROM cagg_more_conds ORDER BY bucket;
 
---Cagg with more conditions and USING clause
-
+-- Cagg with more conditions and USING clause
 CREATE MATERIALIZED VIEW cagg_more_conds_using
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -277,8 +271,7 @@ GROUP BY name, bucket;
 
 SELECT * FROM cagg_more_conds_using ORDER BY bucket;
 
--- Nested CAgg over a CAgg with join
-
+-- Hierarchical CAgg with join
 CREATE MATERIALIZED VIEW cagg_on_cagg
 WITH (timescaledb.continuous, timescaledb.materialized_only=true) AS
 SELECT time_bucket(INTERVAL '1 day', bucket) AS bucket,
@@ -292,7 +285,6 @@ SELECT * FROM cagg_on_cagg;
 DROP MATERIALIZED VIEW cagg_on_cagg CASCADE;
 
 -- Nested CAgg over a CAgg with JOIN clause
-
 CREATE MATERIALIZED VIEW cagg_on_cagg_join
 WITH (timescaledb.continuous, timescaledb.materialized_only=true) AS
 SELECT time_bucket(INTERVAL '1 day', bucket) AS bucket,
@@ -305,7 +297,7 @@ SELECT * FROM cagg_on_cagg_join;
 
 DROP MATERIALIZED VIEW cagg_on_cagg_join CASCADE;
 
---Create CAgg with join and ORDER BY
+-- Create CAgg with join and ORDER BY
 CREATE MATERIALIZED VIEW cagg_ordered
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -366,8 +358,7 @@ GROUP BY 1,2;
 
 DROP MATERIALIZED VIEW cagg_nested CASCADE;
 
---Error cases
---CAgg with multiple join conditions without JOIN clause
+-- CAgg with multiple join conditions without JOIN clause
 CREATE MATERIALIZED VIEW cagg_more_joins_conds
 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -380,16 +371,16 @@ AND conditions.city = devices.location AND
       conditions.temperature > 28
 GROUP BY name, bucket;
 
-CREATE  TABLE mat_t1( a integer, b integer,c TEXT);
+-- With LATERAL multiple tables in new format
+CREATE TABLE mat_t1(a integer, b integer, c TEXT);
 
---With LATERAL multiple tables in new format
 CREATE MATERIALIZED VIEW mat_m1 WITH (timescaledb.continuous, timescaledb.materialized_only = FALSE)
-as
-select temperature, count(*) from conditions,
-LATERAL (Select * from mat_t1 where a = conditions.temperature) q
-group by temperature WITH NO DATA;
+AS
+SELECT time_bucket(INTERVAL '1 day', day) AS bucket, temperature, count(*) from conditions,
+LATERAL (SELECT * FROM mat_t1 WHERE mat_t1.a = conditions.temperature) q
+GROUP BY bucket, temperature;
 
---With FROM clause has view
+-- Joining a hypertable and view
 CREATE MATERIALIZED VIEW cagg_view
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -404,6 +395,7 @@ CREATE TABLE cities(name text, currency text);
 INSERT INTO cities VALUES ('Berlin', 'EUR'), ('London', 'PND');
 
 --Error out when FROM clause has sub selects
+\set ON_ERROR_STOP 0
 CREATE MATERIALIZED VIEW conditions_summary_subselect
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -485,9 +477,10 @@ SELECT AVG(devices.device_id),
 FROM devices, devices_dup
 WHERE devices.device_id = devices_dup.device_id
 GROUP BY devices.name, devices.location;
+\set ON_ERROR_STOP 1
 
---Error out when join is on non-equality condition
-CREATE MATERIALIZED VIEW cagg_unequal
+-- JOIN with non-equality condition
+CREATE MATERIALIZED VIEW cagg_unequal1
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
    AVG(temperature),
@@ -496,8 +489,8 @@ FROM conditions, devices
 WHERE conditions.device_id <> devices.device_id
 GROUP BY name, bucket;
 
---Unsupported join condition
-CREATE MATERIALIZED VIEW cagg_unequal
+-- JOIN with non-equality condition
+CREATE MATERIALIZED VIEW cagg_unequal2
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
    AVG(temperature),
@@ -507,18 +500,18 @@ WHERE conditions.device_id = devices.device_id AND
       conditions.city like '%cow*'
 GROUP BY name, bucket;
 
---Unsupported join condition
-CREATE MATERIALIZED VIEW cagg_unequal
+-- JOIN with non-equality condition
+CREATE MATERIALIZED VIEW cagg_unequal3
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
    AVG(temperature),
    name
-FROM conditions, devices
-WHERE conditions.device_id = devices.device_id OR
-      conditions.city like '%cow*'
+FROM conditions
+JOIN devices ON conditions.device_id = devices.device_id OR conditions.city LIKE '%cow*'
 GROUP BY name, bucket;
 
---Error out when join type is not inner
+-- Error out when join type is not INNER or LEFT
+\set ON_ERROR_STOP 0
 CREATE MATERIALIZED VIEW cagg_outer
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
@@ -528,7 +521,18 @@ FROM conditions FULL JOIN devices
 ON conditions.device_id = devices.device_id
 GROUP BY name, bucket;
 
-CREATE MATERIALIZED VIEW cagg_outer
+CREATE MATERIALIZED VIEW cagg_right
+WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
+SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
+   AVG(temperature),
+   name
+FROM conditions RIGHT JOIN devices
+ON conditions.device_id = devices.device_id
+GROUP BY name, bucket;
+\set ON_ERROR_STOP 1
+
+-- LEFT JOIN is allowed
+CREATE MATERIALIZED VIEW cagg_left_join
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', day) AS bucket,
    AVG(temperature),
@@ -537,7 +541,8 @@ FROM conditions LEFT JOIN devices
 ON conditions.device_id = devices.device_id
 GROUP BY name, bucket;
 
---Error out for join between cagg and hypertable
+-- Error out for join between cagg and hypertable
+\set ON_ERROR_STOP 0
 CREATE MATERIALIZED VIEW cagg_nested_ht
 WITH (timescaledb.continuous, timescaledb.materialized_only = TRUE) AS
 SELECT time_bucket(INTERVAL '1 day', cagg.bucket) AS bucket,
@@ -546,12 +551,56 @@ SELECT time_bucket(INTERVAL '1 day', cagg.bucket) AS bucket,
 FROM cagg_cagg cagg, conditions
 WHERE cagg.device_id = conditions.device_id
 GROUP BY 1,2,3;
+\set ON_ERROR_STOP 1
+
+-- Multiple JOINS are supported
+CREATE MATERIALIZED VIEW conditions_by_day WITH (timescaledb.continuous) AS
+SELECT time_bucket(INTERVAL '1 day', conditions.day) AS bucket,
+   AVG(conditions.temperature),
+   devices.name AS device,
+   location.name AS location
+FROM conditions
+JOIN devices ON conditions.device_id = devices.device_id
+JOIN location ON location.name = devices.location
+GROUP BY bucket, devices.name, location.name;
+
+-- JOIN with a foreign table
+\c :TEST_DBNAME :ROLE_SUPERUSER
+SELECT current_setting('port') AS "PGPORT", current_database() AS "PGDATABASE" \gset
+CREATE EXTENSION postgres_fdw;
+CREATE SERVER loopback
+   FOREIGN DATA WRAPPER postgres_fdw
+   OPTIONS (host 'localhost', dbname :'PGDATABASE', port :'PGPORT');
+CREATE USER MAPPING FOR :ROLE_DEFAULT_PERM_USER
+   SERVER loopback
+   OPTIONS (user :'ROLE_DEFAULT_PERM_USER', password 'nopassword');
+ALTER USER MAPPING FOR :ROLE_DEFAULT_PERM_USER
+   SERVER loopback
+   OPTIONS (ADD password_required 'false');
+GRANT USAGE ON FOREIGN SERVER loopback TO :ROLE_DEFAULT_PERM_USER;
+\c :TEST_DBNAME :ROLE_DEFAULT_PERM_USER;
+
+CREATE FOREIGN TABLE devices_fdw (
+   device_id int not null,
+   name text,
+   location text
+) SERVER loopback OPTIONS (table_name 'devices');
+
+CREATE MATERIALIZED VIEW conditions_fdw WITH (timescaledb.continuous) AS
+SELECT time_bucket(INTERVAL '1 day', conditions.day) AS bucket,
+   AVG(conditions.temperature),
+   devices.name AS device
+FROM conditions
+JOIN devices_fdw AS devices ON conditions.device_id = devices.device_id
+GROUP BY bucket, devices.name;
 
 \set VERBOSITY terse
+SET client_min_messages TO WARNING;
 DROP TABLE conditions CASCADE;
 DROP TABLE devices CASCADE;
 DROP TABLE conditions_dup CASCADE;
 DROP TABLE devices_dup CASCADE;
+RESET client_min_messages;
 
 \set VERBOSITY default
 
@@ -562,7 +611,7 @@ CREATE TABLE conditions(
   device_id int NOT NULL
 );
 
-SELECT create_hypertable('conditions', 'time', chunk_time_interval => INTERVAL '1 day');
+SELECT table_name FROM create_hypertable('conditions', 'time', chunk_time_interval => INTERVAL '1 day');
 
 INSERT INTO conditions (time, value, device_id)
 SELECT t, 1, 1 FROM generate_series('2024-01-01 00:00:00-00'::timestamptz, '2024-12-31 00:00:00-00'::timestamptz, '1 hour'::interval) AS t;
@@ -590,5 +639,7 @@ VACUUM ANALYZE;
 SELECT a.* FROM cagg_realtime a WHERE a.location = 'Moscow' ORDER BY bucket LIMIT 2;
 
 \set VERBOSITY terse
+SET client_min_messages TO WARNING;
 DROP TABLE conditions CASCADE;
 DROP TABLE devices CASCADE;
+RESET client_min_messages;