Is it possible to create nested tables? As well as tables with expanding rows?

I’ve looked at that but couldn’t really figure out how to make it work in a repeat table. I have a repeat table connected to a paged query, which is the “parent” records, and would like to show the related “children” in an expandable region under each parent.
Something like the above example:

Not sure how to set up the queries and what components to use. Can I get a little more detail?
Thanks!