Django query - JOIN with custom conditions

I am looking for a way to build query with a JOIN relation (not INNER JOIN) with custom ON condition.

I have 2 models

class User(models.Model):
    email = models.EmailField(unique=True)
    name = models.CharField(max_length=100, null=True, blank=True)

class Company(models.Model):
    name = models.CharField(max_length=100, null=True, blank=True)
    foo = models.BooleanField(default=False)
    email_domain = models.CharField(max_length=100, null=True, blank=True, help_text='Email domain without @')

I want to find all users whose email address matches with domain name of a company. The company must have an email_domain and foo must be True.

I have managed to get the result with raw query :

raw = """SELECT DISTINCT 
        u.id, u.name, u.email
        FROM myapp_user AS u
        JOIN myapp_company AS c
            ON c.foo = True
            AND c.email_domain IS NOT NULL
            AND u.email LIKE CONCAT('%%', '@', c.email_domain)"""
query = User.objects.raw(raw)

But is there a way to build the query using django ORM ? I tried with FilteredRelation but I can't figure out how to use it in my case.