Select from one table matching criteria in another?

The simplest solution would be a correlated sub select:

select
    A.*
from
    table_A A
where
    A.id in (
        select B.id from table_B B where B.tag = 'chair'
)

Alternatively you could join the tables and filter the rows you want:

select
    A.*
from
    table_A A
inner join table_B B
    on A.id = B.id
where
    B.tag = 'chair'

You should profile both and see which is faster on your dataset.

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