Полагаю, это СОЮЗ СОЕДИНЕНИЙ
SELECT A.ID AS ParentID, B.ID AS ID_B, null as ID_C, B.SomeColB, null as SomeColC --, ..
FROM A
JOIN B ON A.ID = B.ParentID
UNION
SELECT A.ID AS ParentID, null, c.ID as ID_C, null, C.SomeColC --, ..
FROM A
JOIN C ON A.ID = C.ParentID
ORDER BY ParentID, ID_B, ID_C;
Для повторения идентификаторов оберните его еще одним SELECT:
SELECT ParentID
, max(ID_B) OVER(PARTITION BY ParentID) AS ID_B
, max(ID_C) OVER(PARTITION BY ParentID) AS ID_C
, SomeColB, SomeColC --, --
FROM (
SELECT A.ID AS ParentID, B.ID AS ID_B, null as ID_C, B.SomeColB, null as SomeColC --, ..
FROM A
JOIN B ON A.ID = B.ParentID
UNION
SELECT A.ID AS ParentID, null, c.ID as ID_C, null, C.SomeColC --, ..
FROM A
JOIN C ON A.ID = C.ParentID) t
ORDER BY ParentID, ID_B, ID_C;