You should first decide what you want to fetch: an entity graph or a flat list of data. The query in your last post is a flat list of data.
Your first post shows a fetch of entities, so if you want related data to these entities, you have to specify prefetch paths as you're fetching an entity graph (e.g. Customers which in each customer instance have their Order instances in the 'Orders' collection). The engine takes care of related entities not being there, you don't have to worry about that.
If you want to have a flat list, so all joined tables together in 1 resultset, you should either look into creating a typed list or if you want to write the resultset class yourself, fetching the resultset in instances of that class.
To answer your question better, please confirm what you want to have as resultset: a flat list or an entity graph