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Using an ORM library like gorm, which potentially will generate unnecessary queries or using SQL builder library like squirrel where I need to manually write those queries that an ORM would do for me?
Squirrel is great! Let me also plug bqb.
IMO jet is probably the most advanced SQL builder for go. Don't use ORMs.
sqlc is the best database access tool I’ve ever used.
I love SQL Boiler, which generates type-safe code for you from the database schema.
I have a SQL mapping tool called Proteus at https://github.com/jonbodner/proteus . I spoke about its design and performance at GopherCon 2017: https://www.youtube.com/watch?v=hz6d7rzqJ6Q
We've been using goqu and it's super nice! although there are a ton of other query builders that could better fit your use-case.