Did you consider using a Master-Detail grids design?
If you want to use one grid, then it's easy to fetch the Children rows (the N part of the relation), and then display additional columns form the Parent entity.
For this you can either use a TypedList, DynamicList or "Fields mapped on related fields".
The DynamicList will be the only dynamic solution, since columns are defined at runtime, while in the other solutions, columns are defined at design time.