Hola de nuevo. Pasé la base de datos MySQL a MS Access y me puse a jugar un rato con las consultas. En cuestión de segundos llegué a este resultado que hace lo que pretendo:
Código MySQL:
Ver original wp_posts.ID, wp_term_taxonomy.term_taxonomy_id, wp_term_taxonomy.taxonomy, wp_terms.name, wp_term_taxonomy_1.taxonomy, wp_terms_1.name
(((((wp_term_relationships
INNER JOIN wp_term_taxonomy
ON wp_term_relationships.term_taxonomy_id
= wp_term_taxonomy.term_taxonomy_id
) INNER JOIN wp_terms
ON wp_term_taxonomy.term_id
= wp_terms.term_id
) INNER JOIN wp_posts
ON wp_term_relationships.object_id
= wp_posts.ID
) INNER JOIN wp_term_relationships
AS wp_term_relationships_1
ON wp_posts.ID
= wp_term_relationships_1.object_id
) INNER JOIN wp_term_taxonomy
AS wp_term_taxonomy_1
ON wp_term_relationships_1.term_taxonomy_id
= wp_term_taxonomy_1.term_taxonomy_id
) INNER JOIN wp_terms
AS wp_terms_1
ON wp_term_taxonomy_1.term_id
= wp_terms_1.term_id
(((wp_term_taxonomy.taxonomy)="category")
AND ((wp_term_taxonomy_1.taxonomy
)="tipo") AND ((wp_posts.post_status
)="publish") AND ((wp_posts.post_type
)="alojamiento")) wp_terms.name, wp_terms_1.name
;
Seguramente haya una manera mejor, pero funcionar funciona :)