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Cómo unir matrices con MySQL desde 3 tablas de relación de muchos a muchos

El método "eazy" es usar CONCAT para generar JSON.
Y use GROUP_CONCAT para combinar los registros de varios equipos en una matriz JSON.
Este método también funciona en las versiones anteriores de MySQL que no admiten la creación de funciones JSON.

Consulta

SET SESSION group_concat_max_len = @@max_allowed_packet

SELECT 
 CONCAT(
     "{"
   ,     '"id"' , ":" , '"' , friends.id , '"' , ","
   ,     '"name"' , ":" , '"' , friends.name , '"' , ","
   ,     '"team"' , ":" , "["
                              , GROUP_CONCAT('"', teams.name, '"')
                        , "]"
   , "}"
   ) AS json
FROM 
 friends 
INNER JOIN 
 relations 
ON 
 friends.id = relations.friends_id
INNER JOIN
 teams 
ON
 relations.teams_id = teams.id
WHERE 
 friends.id = 1

Resultado

|                                                            json |
|-----------------------------------------------------------------|
| {"id":"1","name":"David Belton","team":["Cleveland Cavaliers"]} |

demostración

http://www.sqlfiddle.com/#!9/4cd244/19

Editó más amigos

Consulta

SET SESSION group_concat_max_len = @@max_allowed_packet

SELECT
  CONCAT(
      "["
    , GROUP_CONCAT(json_records.json) # combine json records into a string
    , "]"
  )  AS json
FROM (

  SELECT 
     CONCAT(
       "{"
     ,     '"id"' , ":" , '"' , friends.id , '"' , ","
     ,     '"name"' , ":" , '"' , friends.name , '"' , ","
     ,     '"team"' , ":" , "["
                              , GROUP_CONCAT('"', teams.name, '"')
                          , "]"
     , "}"
     ) AS json 
  FROM 
    friends 
  INNER JOIN 
    relations 
  ON 
    friends.id = relations.friends_id
  INNER JOIN
    teams 
  ON
    relations.teams_id = teams.id
  WHERE 
    friends.id IN(SELECT id FROM friends) #select the friends you need or just simply friends.id IN(1, 2)
  GROUP BY
     friends.id
) 
 AS json_records

Resultado

|                                                                                                                                             json |
|--------------------------------------------------------------------------------------------------------------------------------------------------|
| [{"id":"1","name":"David Belton","team":["Cleveland Cavaliers"]},{"id":"2","name":"Alex James","team":["Boston Celtics","Cleveland Cavaliers"]}] |

demostración

http://www.sqlfiddle.com/#!9/4cd244/61