[Feature Request] Implement GRPC joining queries

[karenyrx]

Is your feature request related to a problem? Please describe

As part of feature completion of GRPC Search APIs , #16787 , implement GRPC Proto converters for joining queries for the 3.3 release, similar to the existing query converters:
*Nested

Describe the solution you'd like

1. Implement the query converter in the transport-grpc plugin
2. Verify accuracy of the spec, protobufs, and public documentation. If any fixes are needed, submit a PR to those respective repos to fix it before landing the transport-grpc PRs.

Related component

Search:Query Capabilities

Describe alternatives you've considered

No response

Additional context

No response