Have you tried something like this?
delete from player_sessions
where exists (select * from servers
where player_sessions.server_id = servers.id and servers.deleted_at is not null)
Our engineering team was able to recreate the error. SingleStore DB Cloud. Per the docs
Although DELETE supports referencing multiple tables using either joins or subqueries, SingleStoreDB Cloud only supports deleting from one table in a DELETE statement.
delete <table_w_records_to_delete> from player_sessions left join servers on player_sessions.server_id = servers.id where servers.deleted_at is not null
Hope this works for you. Keep us posted. Thank you!