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database - Cloud Firestore deep get with subcollection

Let's say we have a root collection named 'todos'.

Every document in this collection has:

  1. title: String
  2. subcollection named todo_items

Every document in the subcollection todo_items has

  1. title: String
  2. completed: Boolean

I know that querying in Cloud Firestore is shallow by default, which is great, but is there a way to query the todos and get results that include the subcollection todo_items automatically?

In other words, how do I make the following query include the todo_items subcollection?

db.collection('todos').onSnapshot((snapshot) => {
  snapshot.docChanges.forEach((change) => {
    // ...
  });
});
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