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refactor(joins): require explicit abstract table as RHS of joins (#9661)
## Description of changes We have (had) limited support for passing in in-memory objects as the RHS of a join, where we would create a memtable for the user and then use that. For backends where memtable creation is expensive, or for queries where there may be multiple calls to the same in-memory data, it is better to be explicit and first register the in-memory data with the backend using either `memtable` or `create_table`. BREAKING CHANGE: Passing a `pyarrow.Table` or a `pandas.DataFrame` as the right-hand-side of a join is no longer supported. To join against in-memory data, you can pass the in-memory object to `ibis.memtable` or `con.create_table` and use the resulting table object instead. ## Issues closed * Resolves #9571
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