正如@Denis已经评论过的：不需要LATERAL。另外，您的子查询选择了错误的列。这有效：
SELECT t1.t1_id, t1.t1_data, t2_ids
FROM t1
LEFT JOIN (
SELECT t1_id, array_agg(t2_id) AS t2_ids
FROM t1_t2_rel
GROUP BY 1
) sub USING (t1_id);
左连接横向和数组聚合
左连接横向和数组聚合
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