.joins works as database join and it joins two or more table and fetch selected data from backend(database).
.includes work as left join of database. It loaded all the records of left side, does not have relevance of right hand side model. It is used to eager loading because it load all associated object in memory. If we call associations on include query result then it does not fire a query on database, It simply return data from memory because it have already loaded data in memory.