How to map relational relationships to JSON?

Question

ORM

Good evening, tell me as many ways as possible how to bind relational objects working with an API that returns not full model objects, but only identifiers.
I have an idea to make a project, I looked at how to work with the API whose data I want to use, not a single method returns full models, but only IDs with which I will request nested object models through other API methods.
What are the ways to conveniently collect full objects already in your application? (Interested in Backend environment).
Interested in both the manual method and ready-made tools.

Answer 1

HAL, HATEOAS, GraphQL

Answer 2

I liked this library for Python: https://github.com/beregond/jsonmodels - I think to define models in the code and already collect these objects through API requests