如果我理解的很好，你在找这样的东西：

SELECT obj.description,categories.description
FROM Object obj
LEFT JOIN Object as categories ON obj.ParentId = categories.ObjectId
WHERE EXISTS(
    SELECT *
    FROM ObjectInspectionLog oil
    INNER JOIN Object obj2 ON oil.ObjectId = obj2.ObjectId
    WHERE oil.Notes IS NULL
    AND obj.ObjectId in ( obj2.ObjectId, obj2.parentId)
    )

无论对象是否被 ObjectInspectionLog ，例如。
ObjectId 1 应该生成一个输出行。不清楚你为什么要用 group by .
以下代码使用 outer 加入以更接近您可能需要的内容：

-- Sample data.
declare @ObjectInsopectionLog as Table ( ObjectInspectionLogId Int, JobId Int, ObjectId Int, Notes VarChar(32) );

insert into @ObjectInsopectionLog ( ObjectInspectionLogId, JobId, ObjectId, Notes ) values
  ( 3,  6669,   15, NULL ),
  ( 4,  6669,   2,  NULL ),
  ( 5,  6669,   3,  'Rear tires worn' ),
  ( 6,  6669,   4,  NULL ),
  ( 7,  6669,   5,  NULL ),
  ( 8,  6669,   14, NULL );

select * from @ObjectInsopectionLog;

declare @Objects as Table ( ObjectId Int, ParentId Int, Description VarChar(32) );

insert into @Objects ( ObjectId, ParentId, Description ) values
  ( 1,  NULL, 'Chassis' ),
  ( 2,  1, 'Front Tires' ),
  ( 3,  1, 'Rear Tires' ),
  ( 4,  1, 'Windshield Condition' ),
  ( 5,  1, 'Headlights' ),
  ( 13, NULL, 'Adaptive Equipment' ),
  ( 14, 13, 'Occupied Wheelchair Lift' ),
  ( 15, 14, 'Dual post lift' );

select * from @Objects;

-- Do the work.
select Child.Description, Parent.Description as ParentDescription, OIL.ObjectId as OIL_ObjectId
  from @ObjectInsopectionLog as OIL full outer join -- Return all rows from either side of this   join .
    @Objects as Child on Child.ObjectId = OIL.ObjectId left outer join -- Return all   Child   rows regardless of   Parent .
    @Objects as Parent on Parent.ObjectId = Child.ParentId
  where OIL.Notes is NULL
  order by Child.ObjectId;