SQL UPDATE SET one column to be equal to a value in a related table referenced by a different column?

by 
update q
set q.QuestionID = a.QuestionID
from QuestionTrackings q
inner join QuestionAnswers a
on q.AnswerID = a.AnswerID
where q.QuestionID is null -- and other conditions you might want

I recommend to check what the result set to update is before running the update (same query, just with a select):

select *
from QuestionTrackings q
inner join QuestionAnswers a
on q.AnswerID = a.AnswerID
where q.QuestionID is null -- and other conditions you might want

Particularly whether each answer id has definitely only 1 associated question id.

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