Maybe I'm missing some context, but isn't that true by definition even if the db does nothing special? You either spend time sending N queries and waiting for responses, or join and use one query. Given actually matching scenarios for both, the one with less communication overhead wins.
In a normalized database that's true, but in a denormalized database, by definition, you get a third option, which is to have tables with redundant data that can be returned in a single query (as if it were pre-joined, I suppose).
