I'm not sure I follow that line of argument. If plain SQL is too low-level for you there's a wealth of ORMs that abstract away all the nitty-gritty details.
Up front: I'm thinking about leaving NoSQL because I hate its memory model.
SQL requires joins to get a "document" back. In order to properly optimize that process, you'll want an index. Most DBs don't do that (if I understand them correctly). See 1 for details about PG.
NoSQLs like Mongo lack joins. As a result you pack most of your joinable data into a document. When you need some manner of linked relation, you can store either the key to the collection, or a URI that goes through your API to that collection. In either case, you're pegging against an indexed key (probably the PK).
However this simplicity comes not from eschewing SQL but because the queries you typically demand are simpler.