That said, you may not need to leave your stack at all. V8's native Map is already a key-value store — O(1) reads, no overhead, typed in TypeScript. Your "tables" are just Maps and cross-referencing is composite string keys:
sockets.set(serverId:{serverId}: serverId:{socketId} , socketData). No library, no dependency, no SQL. This covers your use case as described.
If you want ACID transactions and persistence without SQL, look at lmdb-js — a Node binding on LMDB, the fastest embedded KV store in existence, zero-copy reads, used in production for 20 years. Your tables become named databases, your records are typed values, your cross-references are composite keys. Same mental model you're building, with 20 years of correctness guarantees underneath.
What's the actual reason for building from scratch rather than using native Map for the in-memory case?