Nonsense. A URL is a resource endpoint. If a resource is a composition of other resources, it is perfectly acceptable to return all composed resources.
Let's try an example: A shopping application, with customers, products and orders. An order composes a customer and all products that were ordered. You'd have endpoints for retrieving a customer (/customer/<id>/), a product (/product/<id>/) and an order (/order/<id>/). When retrieving the order, nothing in REST prohibits you from returning full information about the user and about the products.
Now, advancing the discussion, the reverse complaint is that it is wasteful returning a full information complement when GETting an order. Easy peasy. Just use proper mime types and an Accepts header. Pass in "Accepts: application/json+order+deep" or "Accepts: application/json+order+plain" from the client side signaling the kind of response you want from the server.