I have dynamically generated queries that span over 200 lines. Doing this without a query builder is pure madness. It doesn't matter how modern your language is, manually concatenating SQL shouldn't happen in 2019.
Hibernate is quite powerful and the tooling in IntelliJ (or Eclipse) catches many common mistakes at edit time. Where most folks get themselves into trouble is with all the caching setup. Not surprising, but if you want to just use Hibernate as a cache-less mapper there's always the StatelessSession interface.
I also don't get the oft-repeated notion that ORMs result in bad table design. You can map any tables you can dream up. And if you insist on doing inheritance, Hibernate has 4 different strategies for mapping to classes. Certainly one of those has the performance characteristics you're looking for.
Often long queries with convoluted joins are a good sign something is wrong with your table layout. ORM lets you get away with some bad design but it always catches up with you eventually.