Just like ACF Relationship, you can also choose the PODS Relationship field in query type. You can download Pods Free Plugin to use the relationship field.
In the parent post type fields, you can add a relation field type and set it related to the child post type
Now while editing the posts of Parent Post type, you can get the option to set the related post from the selected child post type.
This way you can filter the query results based on your PODS relationship field.