Cómo representar relaciones de uno a muchos en XML con PostgreSQL

Prueba:

SELECT p.id as pack_id,
       XMLELEMENT(name taskgroup,
                  XMLATTRIBUTES(tg.id as id),
                  XMLAGG(XMLELEMENT(name task,
                         XMLATTRIBUTES(t.id as id)) as xml_task_group
FROM packages p
JOIN package_taskgroup pt ON p.id = pt.package_id
JOIN taskgroups tg on pt.taskgroup_id = tg.id
JOIN taskgroup_task tt on tg.id = tt.taskgroup_id
JOIN tasks t on tt.task_id = t.id
WHERE p.id = somePackageId 
GROUP BY p.id, tg.id

Esto le dará todos los grupos de tareas para el p.id usted especificó.

Entonces:

SELECT XMLELEMENT(name package, 
                  XMLATTRIBUTES(pack_id as id),
                  XMLAGG(xml_task_group))
FROM (previous SELECT here)

Esto le dará la estructura que especificó.

Detalles:XMLAGG , Funciones XML

La selección unida se verá así:

SELECT XMLELEMENT(name package, 
                  XMLATTRIBUTES(pack_id as id),
                  XMLAGG(xml_task_group))
FROM (SELECT p.id as pack_id,
             XMLELEMENT(name taskgroup,
                        XMLATTRIBUTES(tg.id as id),
                        XMLAGG(XMLELEMENT(name task,
                                          XMLATTRIBUTES(t.id as id)
                       ))) as xml_task_group
      FROM packages p
      JOIN package_taskgroup pt ON p.id = pt.package_id
      JOIN taskgroups tg on pt.taskgroup_id = tg.id
      JOIN taskgroup_task tt on tg.id = tt.taskgroup_id
      JOIN tasks t on tt.task_id = t.id
      WHERE p.id = somePackageId 
      GROUP BY p.id, tg.id) t
GROUP BY pack_id

Simplemente copié la primera selección en FROM cláusula de la segunda.