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For my 2¢, We use squirrel at work (I haven't touched it myself though). People here seem to like it.

It's not an ORM per se, but it seems to occupy the sweet spot you're describing. It takes away some of the more tedious parts of using SQL, but allows you to still reason about what's happening under the hood without committing tons of documentation to memory.

Suits the language quite well, I think!

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