You can't do it directly like that... you can do something like this though (not very pretty...):
SELECT
t.id,
t.type,
t2.id AS id2,
t3.id AS id3
FROM t
LEFT JOIN t2 ON t2.id = t.id AND t.type = 't2'
LEFT JOIN t3 ON t3.id = t.id AND t.type = 't3'
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