I think it's more like avoid doing a "limiting" join in the application, ie where the join is used to limit the output to a subset or similar.
As a somewhat contrived example since I just got out of bed, if your software has a function that needs all the invoice items from invoices from this year which invoice address country is a given value, use a join rather than loading all invoices, invoice addresses and invoice items and performing the filtering on the client side.
Though as you point out, if you just need to load a given record along with details, prefer fetching detail rows independently instead of making a Cartesian behemoth.
As a somewhat contrived example since I just got out of bed, if your software has a function that needs all the invoice items from invoices from this year which invoice address country is a given value, use a join rather than loading all invoices, invoice addresses and invoice items and performing the filtering on the client side.
Though as you point out, if you just need to load a given record along with details, prefer fetching detail rows independently instead of making a Cartesian behemoth.