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"Conditional joins" are a common question for Alteryx users. With the Join tool by itself, there isn't a way to do this, But you can with a combination of tools.
Do a search on the Community for "conditional join". There are a few different articles in there that might give some different ways to get what you want. In particular, this one references the Advanced Join tool that you can download from the Gallery. You might want to check it out.
In the meantime, the attached workflow gets you the results.