diff --git a/UPGRADE.md b/UPGRADE.md
index 82d08041a1..543c5d73d2 100644
--- a/UPGRADE.md
+++ b/UPGRADE.md
@@ -67,6 +67,14 @@ Using `Doctrine\ORM\QueryBuilder::add('join', ...)` with a list of join parts
 is deprecated in favor of using an associative array of join parts with the
 root alias as key.
 
+## Deprecate using the `WITH` keyword for arbitrary DQL joins
+
+Using the `WITH` keyword to specify the condition for an arbitrary DQL join is
+deprecated in favor of using the `ON` keyword (similar to the SQL syntax for
+joins).
+The `WITH` keyword is now meant to be used only for filtering conditions in
+association joins.
+
 # Upgrade to 3.5
 
 See the General notes to upgrading to 3.x versions above.
diff --git a/docs/en/reference/dql-doctrine-query-language.rst b/docs/en/reference/dql-doctrine-query-language.rst
index 9b0b0539dd..6f24014643 100644
--- a/docs/en/reference/dql-doctrine-query-language.rst
+++ b/docs/en/reference/dql-doctrine-query-language.rst
@@ -490,7 +490,7 @@ where you can generate an arbitrary join with the following syntax:
 .. code-block:: php
 
     <?php
-    $query = $em->createQuery('SELECT u FROM User u JOIN Banlist b WITH u.email = b.email');
+    $query = $em->createQuery('SELECT u FROM User u JOIN Banlist b ON u.email = b.email');
 
 With an arbitrary join the result differs from the joins using a mapped property.
 The result of an arbitrary join is an one dimensional array with a mix of the entity from the ``SELECT``
@@ -513,13 +513,15 @@ it loads all the related ``Banlist`` objects corresponding to this ``User``. Thi
 when the DQL is switched to an arbitrary join.
 
 .. note::
-    The differences between WHERE, WITH and HAVING clauses may be
+    The differences between WHERE, WITH, ON and HAVING clauses may be
     confusing.
 
     - WHERE is applied to the results of an entire query
-    - WITH is applied to a join as an additional condition. For
-      arbitrary joins (SELECT f, b FROM Foo f, Bar b WITH f.id = b.id)
-      the WITH is required, even if it is 1 = 1
+    - ON is applied to arbitrary joins as the join condition. For
+      arbitrary joins (SELECT f, b FROM Foo f, Bar b ON f.id = b.id)
+      the ON is required, even if it is 1 = 1. WITH is also
+      supported as alternative keyword for that case for BC reasons.
+    - WITH is applied to an association join as an additional condition.
     - HAVING is applied to the results of a query after
       aggregation (GROUP BY)
 
@@ -1699,9 +1701,14 @@ From, Join and Index by
     SubselectIdentificationVariableDeclaration ::= IdentificationVariableDeclaration
     RangeVariableDeclaration                   ::= AbstractSchemaName ["AS"] AliasIdentificationVariable
     JoinAssociationDeclaration                 ::= JoinAssociationPathExpression ["AS"] AliasIdentificationVariable [IndexBy]
-    Join                                       ::= ["LEFT" ["OUTER"] | "INNER"] "JOIN" (JoinAssociationDeclaration | RangeVariableDeclaration) ["WITH" ConditionalExpression]
+    Join                                       ::= ["LEFT" ["OUTER"] | "INNER"] "JOIN" (JoinAssociationDeclaration ["WITH" ConditionalExpression] | RangeVariableDeclaration [("ON" | "WITH") ConditionalExpression])
     IndexBy                                    ::= "INDEX" "BY" SingleValuedPathExpression
 
+.. note::
+    Using the ``WITH`` keyword for the ``ConditionalExpression`` of a
+    ``RangeVariableDeclaration`` is deprecated and will be removed in
+    ORM 4.0. Use the ``ON`` keyword instead.
+
 Select Expressions
 ~~~~~~~~~~~~~~~~~~
 
diff --git a/src/Query/Parser.php b/src/Query/Parser.php
index daf282c8b7..95d180f4fc 100644
--- a/src/Query/Parser.php
+++ b/src/Query/Parser.php
@@ -1609,8 +1609,7 @@ public function SubselectIdentificationVariableDeclaration(): AST\Identification
 
     /**
      * Join ::= ["LEFT" ["OUTER"] | "INNER"] "JOIN"
-     *          (JoinAssociationDeclaration | RangeVariableDeclaration)
-     *          ["WITH" ConditionalExpression]
+     *          (JoinAssociationDeclaration ["WITH" ConditionalExpression] | RangeVariableDeclaration [("ON" | "WITH") ConditionalExpression])
      */
     public function Join(): AST\Join
     {
@@ -1644,22 +1643,32 @@ public function Join(): AST\Join
 
         $next = $this->lexer->glimpse();
         assert($next !== null);
-        $joinDeclaration = $next->type === TokenType::T_DOT ? $this->JoinAssociationDeclaration() : $this->RangeVariableDeclaration();
-        $adhocConditions = $this->lexer->isNextToken(TokenType::T_WITH);
-        $join            = new AST\Join($joinType, $joinDeclaration);
+        $conditionalExpression = null;
 
-        // Describe non-root join declaration
-        if ($joinDeclaration instanceof AST\RangeVariableDeclaration) {
-            $joinDeclaration->isRoot = false;
-        }
+        if ($next->type === TokenType::T_DOT) {
+            $joinDeclaration = $this->JoinAssociationDeclaration();
 
-        // Check for ad-hoc Join conditions
-        if ($adhocConditions) {
-            $this->match(TokenType::T_WITH);
+            if ($this->lexer->isNextToken(TokenType::T_WITH)) {
+                $this->match(TokenType::T_WITH);
+                $conditionalExpression = $this->ConditionalExpression();
+            }
+        } else {
+            $joinDeclaration         = $this->RangeVariableDeclaration();
+            $joinDeclaration->isRoot = false;
 
-            $join->conditionalExpression = $this->ConditionalExpression();
+            if ($this->lexer->isNextToken(TokenType::T_ON)) {
+                $this->match(TokenType::T_ON);
+                $conditionalExpression = $this->ConditionalExpression();
+            } elseif ($this->lexer->isNextToken(TokenType::T_WITH)) {
+                $this->match(TokenType::T_WITH);
+                $conditionalExpression = $this->ConditionalExpression();
+                Deprecation::trigger('doctrine/orm', 'https://github.com/doctrine/orm/issues/12192', 'Using WITH for the join condition of arbitrary joins is deprecated. Use ON instead.');
+            }
         }
 
+        $join                        = new AST\Join($joinType, $joinDeclaration);
+        $join->conditionalExpression = $conditionalExpression;
+
         return $join;
     }
 
diff --git a/src/Query/TokenType.php b/src/Query/TokenType.php
index 47cc791271..98e4f69657 100644
--- a/src/Query/TokenType.php
+++ b/src/Query/TokenType.php
@@ -90,4 +90,5 @@ enum TokenType: int
     case T_WHERE    = 255;
     case T_WITH     = 256;
     case T_NAMED    = 257;
+    case T_ON       = 258;
 }
diff --git a/tests/Tests/ORM/Functional/QueryTest.php b/tests/Tests/ORM/Functional/QueryTest.php
index 93c9c521c6..4f1474b0ff 100644
--- a/tests/Tests/ORM/Functional/QueryTest.php
+++ b/tests/Tests/ORM/Functional/QueryTest.php
@@ -390,7 +390,7 @@ public function testToIterableWithMultipleSelectElements(): void
         $this->_em->flush();
         $this->_em->clear();
 
-        $query = $this->_em->createQuery('select a, u from ' . CmsArticle::class . ' a JOIN ' . CmsUser::class . ' u WITH a.user = u');
+        $query = $this->_em->createQuery('select a, u from ' . CmsArticle::class . ' a JOIN ' . CmsUser::class . ' u ON a.user = u');
 
         $result = iterator_to_array($query->toIterable());
 
@@ -1059,7 +1059,7 @@ public function testMultipleJoinComponentsUsingInnerJoin(): void
         $query = $this->_em->createQuery('
             SELECT u, p
               FROM Doctrine\Tests\Models\CMS\CmsUser u
-             INNER JOIN Doctrine\Tests\Models\CMS\CmsPhonenumber p WITH u = p.user
+             INNER JOIN Doctrine\Tests\Models\CMS\CmsPhonenumber p ON u = p.user
         ');
         $users = $query->execute();
 
@@ -1092,7 +1092,7 @@ public function testMultipleJoinComponentsUsingLeftJoin(): void
         $query = $this->_em->createQuery('
             SELECT u, p
               FROM Doctrine\Tests\Models\CMS\CmsUser u
-              LEFT JOIN Doctrine\Tests\Models\CMS\CmsPhonenumber p WITH u = p.user
+              LEFT JOIN Doctrine\Tests\Models\CMS\CmsPhonenumber p ON u = p.user
         ');
         $users = $query->execute();
 
diff --git a/tests/Tests/ORM/Functional/Ticket/DDC3042Test.php b/tests/Tests/ORM/Functional/Ticket/DDC3042Test.php
index afd89902b8..cb086f4a95 100644
--- a/tests/Tests/ORM/Functional/Ticket/DDC3042Test.php
+++ b/tests/Tests/ORM/Functional/Ticket/DDC3042Test.php
@@ -31,7 +31,7 @@ public function testSQLGenerationDoesNotProvokeAliasCollisions(): void
                 $this
                 ->_em
                 ->createQuery(
-                    'SELECT f, b FROM ' . __NAMESPACE__ . '\DDC3042Foo f JOIN ' . __NAMESPACE__ . '\DDC3042Bar b WITH 1 = 1',
+                    'SELECT f, b FROM ' . __NAMESPACE__ . '\DDC3042Foo f JOIN ' . __NAMESPACE__ . '\DDC3042Bar b ON 1 = 1',
                 )
                 ->getSQL(),
                 'field_11',
diff --git a/tests/Tests/ORM/Functional/Ticket/GH6362Test.php b/tests/Tests/ORM/Functional/Ticket/GH6362Test.php
index ccc734a115..8cd1db4cea 100644
--- a/tests/Tests/ORM/Functional/Ticket/GH6362Test.php
+++ b/tests/Tests/ORM/Functional/Ticket/GH6362Test.php
@@ -39,7 +39,7 @@ protected function setUp(): void
      * SELECT a as base, b, c, d
      * FROM Start a
      * LEFT JOIN a.bases b
-     * LEFT JOIN Child c WITH b.id = c.id
+     * LEFT JOIN Child c ON b.id = c.id
      * LEFT JOIN c.joins d
      */
     #[Group('GH-6362')]
diff --git a/tests/Tests/ORM/Functional/Ticket/GH6464Test.php b/tests/Tests/ORM/Functional/Ticket/GH6464Test.php
index 4a2b51a317..7298a4db72 100644
--- a/tests/Tests/ORM/Functional/Ticket/GH6464Test.php
+++ b/tests/Tests/ORM/Functional/Ticket/GH6464Test.php
@@ -39,7 +39,7 @@ public function testIssue(): void
         $query = $this->_em->createQueryBuilder()
             ->select('p')
             ->from(GH6464Post::class, 'p')
-            ->innerJoin(GH6464Author::class, 'a', 'WITH', 'p.authorId = a.id')
+            ->innerJoin(GH6464Author::class, 'a', 'ON', 'p.authorId = a.id')
             ->getQuery();
 
         self::assertDoesNotMatchRegularExpression(
diff --git a/tests/Tests/ORM/Functional/Ticket/GH7496WithToIterableTest.php b/tests/Tests/ORM/Functional/Ticket/GH7496WithToIterableTest.php
index be502f3a79..e248a42d56 100644
--- a/tests/Tests/ORM/Functional/Ticket/GH7496WithToIterableTest.php
+++ b/tests/Tests/ORM/Functional/Ticket/GH7496WithToIterableTest.php
@@ -40,7 +40,7 @@ protected function setUp(): void
     public function testNonUniqueObjectHydrationDuringIteration(): void
     {
         $q = $this->_em->createQuery(
-            'SELECT b FROM ' . GH7496EntityAinB::class . ' aib JOIN ' . GH7496EntityB::class . ' b WITH aib.eB = b',
+            'SELECT b FROM ' . GH7496EntityAinB::class . ' aib JOIN ' . GH7496EntityB::class . ' b ON aib.eB = b',
         );
 
         $bs = IterableTester::iterableToArray(
diff --git a/tests/Tests/ORM/Query/LanguageRecognitionTest.php b/tests/Tests/ORM/Query/LanguageRecognitionTest.php
index 02b42fb5ba..daa61903f6 100644
--- a/tests/Tests/ORM/Query/LanguageRecognitionTest.php
+++ b/tests/Tests/ORM/Query/LanguageRecognitionTest.php
@@ -4,6 +4,7 @@
 
 namespace Doctrine\Tests\ORM\Query;
 
+use Doctrine\Deprecations\PHPUnit\VerifyDeprecations;
 use Doctrine\ORM\AbstractQuery;
 use Doctrine\ORM\EntityManagerInterface;
 use Doctrine\ORM\Mapping\Column;
@@ -20,9 +21,12 @@
 use Doctrine\Tests\OrmTestCase;
 use PHPUnit\Framework\Attributes\DataProvider;
 use PHPUnit\Framework\Attributes\Group;
+use PHPUnit\Framework\Attributes\IgnoreDeprecations;
 
 class LanguageRecognitionTest extends OrmTestCase
 {
+    use VerifyDeprecations;
+
     private EntityManagerInterface $entityManager;
     private int $hydrationMode = AbstractQuery::HYDRATE_OBJECT;
 
@@ -262,8 +266,15 @@ public function testMixingOfJoins(): void
         $this->assertValidDQL('SELECT u.name, a.topic, p.phonenumber FROM Doctrine\Tests\Models\CMS\CmsUser u INNER JOIN u.articles a LEFT JOIN u.phonenumbers p');
     }
 
+    public function testJoinClassPathUsingON(): void
+    {
+        $this->assertValidDQL('SELECT u.name FROM Doctrine\Tests\Models\CMS\CmsUser u JOIN Doctrine\Tests\Models\CMS\CmsArticle a ON a.user = u.id');
+    }
+
+    #[IgnoreDeprecations]
     public function testJoinClassPathUsingWITH(): void
     {
+        $this->expectDeprecationWithIdentifier('https://github.com/doctrine/orm/issues/12192');
         $this->assertValidDQL('SELECT u.name FROM Doctrine\Tests\Models\CMS\CmsUser u JOIN Doctrine\Tests\Models\CMS\CmsArticle a WITH a.user = u.id');
     }
 
@@ -638,7 +649,7 @@ public function testHavingSupportIsNullExpression(): void
     #[Group('DDC-3085')]
     public function testHavingSupportResultVariableInNullComparisonExpression(): void
     {
-        $this->assertValidDQL('SELECT u AS user, SUM(a.id) AS score FROM Doctrine\Tests\Models\CMS\CmsUser u LEFT JOIN Doctrine\Tests\Models\CMS\CmsAddress a WITH a.user = u GROUP BY u HAVING score IS NOT NULL AND score >= 5');
+        $this->assertValidDQL('SELECT u AS user, SUM(a.id) AS score FROM Doctrine\Tests\Models\CMS\CmsUser u LEFT JOIN Doctrine\Tests\Models\CMS\CmsAddress a ON a.user = u GROUP BY u HAVING score IS NOT NULL AND score >= 5');
     }
 
     #[Group('DDC-1858')]
diff --git a/tests/Tests/ORM/Query/SelectSqlGenerationTest.php b/tests/Tests/ORM/Query/SelectSqlGenerationTest.php
index 69bd94b717..0678fc5992 100644
--- a/tests/Tests/ORM/Query/SelectSqlGenerationTest.php
+++ b/tests/Tests/ORM/Query/SelectSqlGenerationTest.php
@@ -191,7 +191,7 @@ public function testSupportsSelectUsingMultipleFromComponents(): void
     public function testSupportsJoinOnMultipleComponents(): void
     {
         $this->assertSqlGeneration(
-            'SELECT u, p FROM Doctrine\Tests\Models\CMS\CmsUser u JOIN Doctrine\Tests\Models\CMS\CmsPhonenumber p WITH u = p.user',
+            'SELECT u, p FROM Doctrine\Tests\Models\CMS\CmsUser u JOIN Doctrine\Tests\Models\CMS\CmsPhonenumber p ON u = p.user',
             'SELECT c0_.id AS id_0, c0_.status AS status_1, c0_.username AS username_2, c0_.name AS name_3, c1_.phonenumber AS phonenumber_4, c0_.email_id AS email_id_5, c1_.user_id AS user_id_6 FROM cms_users c0_ INNER JOIN cms_phonenumbers c1_ ON (c0_.id = c1_.user_id)',
         );
     }
@@ -199,17 +199,17 @@ public function testSupportsJoinOnMultipleComponents(): void
     public function testSupportsJoinOnMultipleComponentsWithJoinedInheritanceType(): void
     {
         $this->assertSqlGeneration(
-            'SELECT e FROM Doctrine\Tests\Models\Company\CompanyEmployee e JOIN Doctrine\Tests\Models\Company\CompanyManager m WITH e.id = m.id',
+            'SELECT e FROM Doctrine\Tests\Models\Company\CompanyEmployee e JOIN Doctrine\Tests\Models\Company\CompanyManager m ON e.id = m.id',
             'SELECT c0_.id AS id_0, c0_.name AS name_1, c1_.salary AS salary_2, c1_.department AS department_3, c1_.startDate AS startDate_4, c2_.title AS title_5, c0_.discr AS discr_6, c0_.spouse_id AS spouse_id_7, c2_.car_id AS car_id_8 FROM company_employees c1_ INNER JOIN company_persons c0_ ON c1_.id = c0_.id LEFT JOIN company_managers c2_ ON c1_.id = c2_.id INNER JOIN (company_managers c3_ INNER JOIN company_employees c5_ ON c3_.id = c5_.id INNER JOIN company_persons c4_ ON c3_.id = c4_.id) ON (c0_.id = c4_.id)',
         );
 
         $this->assertSqlGeneration(
-            'SELECT e FROM Doctrine\Tests\Models\Company\CompanyEmployee e LEFT JOIN Doctrine\Tests\Models\Company\CompanyManager m WITH e.id = m.id',
+            'SELECT e FROM Doctrine\Tests\Models\Company\CompanyEmployee e LEFT JOIN Doctrine\Tests\Models\Company\CompanyManager m ON e.id = m.id',
             'SELECT c0_.id AS id_0, c0_.name AS name_1, c1_.salary AS salary_2, c1_.department AS department_3, c1_.startDate AS startDate_4, c2_.title AS title_5, c0_.discr AS discr_6, c0_.spouse_id AS spouse_id_7, c2_.car_id AS car_id_8 FROM company_employees c1_ INNER JOIN company_persons c0_ ON c1_.id = c0_.id LEFT JOIN company_managers c2_ ON c1_.id = c2_.id LEFT JOIN (company_managers c3_ INNER JOIN company_employees c5_ ON c3_.id = c5_.id INNER JOIN company_persons c4_ ON c3_.id = c4_.id) ON (c0_.id = c4_.id)',
         );
 
         $this->assertSqlGeneration(
-            'SELECT c FROM Doctrine\Tests\Models\Company\CompanyContract c JOIN c.salesPerson s LEFT JOIN Doctrine\Tests\Models\Company\CompanyEvent e WITH s.id = e.id',
+            'SELECT c FROM Doctrine\Tests\Models\Company\CompanyContract c JOIN c.salesPerson s LEFT JOIN Doctrine\Tests\Models\Company\CompanyEvent e ON s.id = e.id',
             "SELECT c0_.id AS id_0, c0_.completed AS completed_1, c0_.fixPrice AS fixPrice_2, c0_.hoursWorked AS hoursWorked_3, c0_.pricePerHour AS pricePerHour_4, c0_.maxPrice AS maxPrice_5, c0_.discr AS discr_6, c0_.salesPerson_id AS salesPerson_id_7 FROM company_contracts c0_ INNER JOIN company_employees c1_ ON c0_.salesPerson_id = c1_.id LEFT JOIN company_persons c2_ ON c1_.id = c2_.id LEFT JOIN company_managers c3_ ON c1_.id = c3_.id LEFT JOIN (company_events c4_ LEFT JOIN company_auctions c5_ ON c4_.id = c5_.id LEFT JOIN company_raffles c6_ ON c4_.id = c6_.id) ON (c2_.id = c4_.id) WHERE c0_.discr IN ('fix', 'flexible', 'flexultra')",
         );
     }
@@ -2025,7 +2025,7 @@ public function testSingleTableInheritanceLeftJoinWithCondition(): void
     {
         // Regression test for the bug
         $this->assertSqlGeneration(
-            'SELECT c FROM Doctrine\Tests\Models\Company\CompanyEmployee e LEFT JOIN Doctrine\Tests\Models\Company\CompanyContract c WITH c.salesPerson = e.id',
+            'SELECT c FROM Doctrine\Tests\Models\Company\CompanyEmployee e LEFT JOIN Doctrine\Tests\Models\Company\CompanyContract c ON c.salesPerson = e.id',
             "SELECT c0_.id AS id_0, c0_.completed AS completed_1, c0_.fixPrice AS fixPrice_2, c0_.hoursWorked AS hoursWorked_3, c0_.pricePerHour AS pricePerHour_4, c0_.maxPrice AS maxPrice_5, c0_.discr AS discr_6, c0_.salesPerson_id AS salesPerson_id_7 FROM company_employees c1_ INNER JOIN company_persons c2_ ON c1_.id = c2_.id LEFT JOIN company_managers c3_ ON c1_.id = c3_.id LEFT JOIN company_contracts c0_ ON (c0_.salesPerson_id = c2_.id) AND c0_.discr IN ('fix', 'flexible', 'flexultra')",
         );
     }
@@ -2035,7 +2035,7 @@ public function testSingleTableInheritanceLeftJoinWithConditionAndWhere(): void
     {
         // Ensure other WHERE predicates are passed through to the main WHERE clause
         $this->assertSqlGeneration(
-            'SELECT c FROM Doctrine\Tests\Models\Company\CompanyEmployee e LEFT JOIN Doctrine\Tests\Models\Company\CompanyContract c WITH c.salesPerson = e.id WHERE e.salary > 1000',
+            'SELECT c FROM Doctrine\Tests\Models\Company\CompanyEmployee e LEFT JOIN Doctrine\Tests\Models\Company\CompanyContract c ON c.salesPerson = e.id WHERE e.salary > 1000',
             "SELECT c0_.id AS id_0, c0_.completed AS completed_1, c0_.fixPrice AS fixPrice_2, c0_.hoursWorked AS hoursWorked_3, c0_.pricePerHour AS pricePerHour_4, c0_.maxPrice AS maxPrice_5, c0_.discr AS discr_6, c0_.salesPerson_id AS salesPerson_id_7 FROM company_employees c1_ INNER JOIN company_persons c2_ ON c1_.id = c2_.id LEFT JOIN company_managers c3_ ON c1_.id = c3_.id LEFT JOIN company_contracts c0_ ON (c0_.salesPerson_id = c2_.id) AND c0_.discr IN ('fix', 'flexible', 'flexultra') WHERE c1_.salary > 1000",
         );
     }
@@ -2045,7 +2045,7 @@ public function testSingleTableInheritanceInnerJoinWithCondition(): void
     {
         // Test inner joins too
         $this->assertSqlGeneration(
-            'SELECT c FROM Doctrine\Tests\Models\Company\CompanyEmployee e INNER JOIN Doctrine\Tests\Models\Company\CompanyContract c WITH c.salesPerson = e.id',
+            'SELECT c FROM Doctrine\Tests\Models\Company\CompanyEmployee e INNER JOIN Doctrine\Tests\Models\Company\CompanyContract c ON c.salesPerson = e.id',
             "SELECT c0_.id AS id_0, c0_.completed AS completed_1, c0_.fixPrice AS fixPrice_2, c0_.hoursWorked AS hoursWorked_3, c0_.pricePerHour AS pricePerHour_4, c0_.maxPrice AS maxPrice_5, c0_.discr AS discr_6, c0_.salesPerson_id AS salesPerson_id_7 FROM company_employees c1_ INNER JOIN company_persons c2_ ON c1_.id = c2_.id LEFT JOIN company_managers c3_ ON c1_.id = c3_.id INNER JOIN company_contracts c0_ ON (c0_.salesPerson_id = c2_.id) AND c0_.discr IN ('fix', 'flexible', 'flexultra')",
         );
     }
@@ -2056,7 +2056,7 @@ public function testSingleTableInheritanceLeftJoinNonAssociationWithConditionAnd
         // Test that the discriminator IN() predicate is still added into
         // the where clause when not joining onto that table
         $this->assertSqlGeneration(
-            'SELECT c FROM Doctrine\Tests\Models\Company\CompanyContract c LEFT JOIN Doctrine\Tests\Models\Company\CompanyEmployee e WITH e.id = c.salesPerson WHERE c.completed = true',
+            'SELECT c FROM Doctrine\Tests\Models\Company\CompanyContract c LEFT JOIN Doctrine\Tests\Models\Company\CompanyEmployee e ON e.id = c.salesPerson WHERE c.completed = true',
             "SELECT c0_.id AS id_0, c0_.completed AS completed_1, c0_.fixPrice AS fixPrice_2, c0_.hoursWorked AS hoursWorked_3, c0_.pricePerHour AS pricePerHour_4, c0_.maxPrice AS maxPrice_5, c0_.discr AS discr_6, c0_.salesPerson_id AS salesPerson_id_7 FROM company_contracts c0_ LEFT JOIN (company_employees c1_ INNER JOIN company_persons c2_ ON c1_.id = c2_.id LEFT JOIN company_managers c3_ ON c1_.id = c3_.id) ON (c2_.id = c0_.salesPerson_id) WHERE (c0_.completed = 1) AND c0_.discr IN ('fix', 'flexible', 'flexultra')",
         );
     }
@@ -2109,7 +2109,7 @@ public function testHavingSupportResultVariableLikeExpression(): void
     public function testHavingSupportResultVariableNullComparisonExpression(): void
     {
         $this->assertSqlGeneration(
-            'SELECT u AS user, SUM(a.id) AS score FROM Doctrine\Tests\Models\CMS\CmsUser u LEFT JOIN Doctrine\Tests\Models\CMS\CmsAddress a WITH a.user = u GROUP BY u HAVING score IS NOT NULL AND score >= 5',
+            'SELECT u AS user, SUM(a.id) AS score FROM Doctrine\Tests\Models\CMS\CmsUser u LEFT JOIN Doctrine\Tests\Models\CMS\CmsAddress a ON a.user = u GROUP BY u HAVING score IS NOT NULL AND score >= 5',
             'SELECT c0_.id AS id_0, c0_.status AS status_1, c0_.username AS username_2, c0_.name AS name_3, SUM(c1_.id) AS sclr_4, c0_.email_id AS email_id_5 FROM cms_users c0_ LEFT JOIN cms_addresses c1_ ON (c1_.user_id = c0_.id) GROUP BY c0_.id, c0_.status, c0_.username, c0_.name, c0_.email_id HAVING sclr_4 IS NOT NULL AND sclr_4 >= 5',
         );
     }
diff --git a/tests/Tests/ORM/Tools/Pagination/CountWalkerTest.php b/tests/Tests/ORM/Tools/Pagination/CountWalkerTest.php
index 6a223e67f5..67b3b84aad 100644
--- a/tests/Tests/ORM/Tools/Pagination/CountWalkerTest.php
+++ b/tests/Tests/ORM/Tools/Pagination/CountWalkerTest.php
@@ -121,7 +121,7 @@ public function testCountQueryHavingException(): void
     public function testCountQueryWithArbitraryJoin(): void
     {
         $query = $this->entityManager->createQuery(
-            'SELECT p FROM Doctrine\Tests\ORM\Tools\Pagination\BlogPost p LEFT JOIN Doctrine\Tests\ORM\Tools\Pagination\Category c WITH p.category = c',
+            'SELECT p FROM Doctrine\Tests\ORM\Tools\Pagination\BlogPost p LEFT JOIN Doctrine\Tests\ORM\Tools\Pagination\Category c ON p.category = c',
         );
         $query->setHint(Query::HINT_CUSTOM_TREE_WALKERS, [CountWalker::class]);
         $query->setHint(CountWalker::HINT_DISTINCT, true);
diff --git a/tests/Tests/ORM/Tools/Pagination/LimitSubqueryWalkerTest.php b/tests/Tests/ORM/Tools/Pagination/LimitSubqueryWalkerTest.php
index f9c3ba7fe4..7ae26f6cb9 100644
--- a/tests/Tests/ORM/Tools/Pagination/LimitSubqueryWalkerTest.php
+++ b/tests/Tests/ORM/Tools/Pagination/LimitSubqueryWalkerTest.php
@@ -131,7 +131,7 @@ public function testLimitSubqueryWithSortOnAssociation(): void
      */
     public function testLimitSubqueryWithArbitraryJoin(): void
     {
-        $dql        = 'SELECT p, c FROM Doctrine\Tests\ORM\Tools\Pagination\MyBlogPost p JOIN Doctrine\Tests\ORM\Tools\Pagination\Category c WITH p.category = c';
+        $dql        = 'SELECT p, c FROM Doctrine\Tests\ORM\Tools\Pagination\MyBlogPost p JOIN Doctrine\Tests\ORM\Tools\Pagination\Category c ON p.category = c';
         $query      = $this->entityManager->createQuery($dql);
         $limitQuery = clone $query;
 
@@ -145,7 +145,7 @@ public function testLimitSubqueryWithArbitraryJoin(): void
 
     public function testLimitSubqueryWithSortWithArbitraryJoin(): void
     {
-        $dql        = 'SELECT p, c FROM Doctrine\Tests\ORM\Tools\Pagination\MyBlogPost p JOIN Doctrine\Tests\ORM\Tools\Pagination\Category c WITH p.category = c ORDER BY p.title';
+        $dql        = 'SELECT p, c FROM Doctrine\Tests\ORM\Tools\Pagination\MyBlogPost p JOIN Doctrine\Tests\ORM\Tools\Pagination\Category c ON p.category = c ORDER BY p.title';
         $query      = $this->entityManager->createQuery($dql);
         $limitQuery = clone $query;
 
diff --git a/tests/Tests/ORM/Tools/Pagination/WhereInWalkerTest.php b/tests/Tests/ORM/Tools/Pagination/WhereInWalkerTest.php
index 4889b98352..d8acafad9f 100644
--- a/tests/Tests/ORM/Tools/Pagination/WhereInWalkerTest.php
+++ b/tests/Tests/ORM/Tools/Pagination/WhereInWalkerTest.php
@@ -71,12 +71,12 @@ public static function exampleQueries(): Generator
         ];
 
         yield 'arbitary join with no WHERE' => [
-            'SELECT p FROM Doctrine\Tests\ORM\Tools\Pagination\BlogPost p JOIN Doctrine\Tests\ORM\Tools\Pagination\Category c WITH p.category = c',
+            'SELECT p FROM Doctrine\Tests\ORM\Tools\Pagination\BlogPost p JOIN Doctrine\Tests\ORM\Tools\Pagination\Category c ON p.category = c',
             'SELECT b0_.id AS id_0, b0_.author_id AS author_id_1, b0_.category_id AS category_id_2 FROM BlogPost b0_ INNER JOIN Category c1_ ON (b0_.category_id = c1_.id) WHERE b0_.id IN (?)',
         ];
 
         yield 'arbitary join with single WHERE' => [
-            'SELECT p FROM Doctrine\Tests\ORM\Tools\Pagination\BlogPost p JOIN Doctrine\Tests\ORM\Tools\Pagination\Category c WITH p.category = c WHERE 1 = 1',
+            'SELECT p FROM Doctrine\Tests\ORM\Tools\Pagination\BlogPost p JOIN Doctrine\Tests\ORM\Tools\Pagination\Category c ON p.category = c WHERE 1 = 1',
             'SELECT b0_.id AS id_0, b0_.author_id AS author_id_1, b0_.category_id AS category_id_2 FROM BlogPost b0_ INNER JOIN Category c1_ ON (b0_.category_id = c1_.id) WHERE 1 = 1 AND b0_.id IN (?)',
         ];
     }