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Perché il mio join sinistro non restituisce valori nulli?

cambia join items i ... a LEFT join items i ... e la tua query dovrebbe funzionare come previsto.

MODIFICA
Non puoi filtrare le tabelle LEFT JOIN nella clausola where a meno che tu non tenga conto dei valori null, perché il join sinistro consente a quelle colonne di avere un valore o essere null quando nessuna riga corrisponde:

and i.siteid = 132 eliminerà tutte le tue righe che hanno un i.siteid NULL , dove non esisteva. Spostalo su ON:

left join items i on ic.itemid = i.itemid and i.siteid = 132

o fai in modo che WHERE gestisca i NULL:

WHERE ... AND (i.siteid = 132 OR i.siteid IS NULL)

MODIFICA in base alla modifica di OP 3

SET NOCOUNT ON
DECLARE @Categories table (CategoryID int,Title varchar(30))
INSERT @Categories VALUES (1,'Cat AAA')
INSERT @Categories VALUES (2,'Cat BBB')
INSERT @Categories VALUES (3,'Cat CCC')

DECLARE @SubCategories table (SubCategoryID int,CategoryID int,Title varchar(30))
INSERT @SubCategories VALUES (1,1,'SubCat AAA A')
INSERT @SubCategories VALUES (2,1,'SubCat AAA B')
INSERT @SubCategories VALUES (3,1,'SubCat AAA C')
INSERT @SubCategories VALUES (4,2,'SubCat BBB A')

DECLARE @ItemCategories table (ItemCategoryID int, ItemID int, SubCategoryID int, IsActive char(1))
INSERT @ItemCategories VALUES (1,1,2,'Y')
INSERT @ItemCategories VALUES (2,2,2,'Y')
INSERT @ItemCategories VALUES (3,3,2,'Y')
INSERT @ItemCategories VALUES (4,4,2,'Y')
INSERT @ItemCategories VALUES (5,7,2,'Y')

DECLARE @Items table (ItemID int, Title varchar(30), SiteID int)
INSERT @Items VALUES (1,'Item A',111)
INSERT @Items VALUES (2,'Item B',111)
INSERT @Items VALUES (3,'Item C',132)
INSERT @Items VALUES (4,'Item D',111)
INSERT @Items VALUES (5,'Item E',111)
INSERT @Items VALUES (6,'Item F',132)
INSERT @Items VALUES (7,'Item G',132)
SET NOCOUNT OFF

Non sono sicuro al 100% di cosa stia cercando l'OP, questo restituirà tutte le informazioni che possono essere unite quando siteid=132 come indicato nella domanda

SELECT
    c.title as categorytitle
        ,s.title as subcategorytitle
        ,i.title as itemtitle
        --,i.itemID, ic.SubCategoryID, s.CategoryID
    FROM @Items                          i
        LEFT OUTER JOIN @ItemCategories ic ON i.ItemID=ic.ItemID
        LEFT OUTER JOIN @SubCategories   s ON ic.SubCategoryID=s.SubCategoryID
        LEFT OUTER JOIN @Categories      c ON s.CategoryID=c.CategoryID
    WHERE i.siteid = 132

USCITA:

categorytitle                  subcategorytitle               itemtitle
------------------------------ ------------------------------ ------------------------------
Cat AAA                        SubCat AAA B                   Item C
NULL                           NULL                           Item F
Cat AAA                        SubCat AAA B                   Item G

(3 row(s) affected)

Questo elencherà tutte le categorie, anche se non c'è corrispondenza con siteid=132

;WITH AllItems AS
(
SELECT
    s.CategoryID, ic.SubCategoryID, ItemCategoryID, i.ItemID
        ,c.title AS categorytitle, s.title as subcategorytitle, i.title as itemtitle
    FROM @Items                          i
        LEFT OUTER JOIN @ItemCategories ic ON i.ItemID=ic.ItemID
        LEFT OUTER JOIN @SubCategories   s ON ic.SubCategoryID=s.SubCategoryID
        LEFT OUTER JOIN @Categories      c ON s.CategoryID=c.CategoryID
    WHERE i.siteid = 132
)
SELECT
    categorytitle, subcategorytitle,itemtitle
    FROM AllItems
UNION
SELECT
    c.Title, s.Title, null
    FROM @Categories                     c
        LEFT OUTER JOIN @SubCategories   s ON c.CategoryID=s.CategoryID
        LEFT OUTER JOIN @ItemCategories ic ON s.SubCategoryID=ic.SubCategoryID
        LEFT OUTER JOIN AllItems         i ON c.CategoryID=i.CategoryID AND  s.SubCategoryID=i.SubCategoryID
    WHERE i.ItemID IS NULL
ORDER BY categorytitle,subcategorytitle

USCITA:

categorytitle                  subcategorytitle               itemtitle
------------------------------ ------------------------------ ------------------------------
NULL                           NULL                           Item F
Cat AAA                        SubCat AAA A                   NULL
Cat AAA                        SubCat AAA B                   Item C
Cat AAA                        SubCat AAA B                   Item G
Cat AAA                        SubCat AAA C                   NULL
Cat BBB                        SubCat BBB A                   NULL
Cat CCC                        NULL                           NULL

(7 row(s) affected)