how to display category name for c and x from table category without u

i work on sql server 2014 i need to get categories c and x without using self join

but i don't know how to make that

my data sample

create table #category
 (
 categoryc  int,
 categoryx int
 )
 insert into #category(categoryc,categoryx)
 values
 (19,20),
 (50,75),
 (80,70)

 create table #categorydetails
 (
 categoryid  int,
 categoryname nvarchar(300)
 )
 insert into #categorydetails(categoryid,categoryname)
 values
 (19,'bmw'),
 (20,'mercedees'),
 (50,'feat'),
 (75,'toyota'),
 (80,'mazda'),
 (70,'suzoky')


 select d1.categoryname as categoryc,d2.categoryname as categoryx from #category c
 left join #categorydetails d1 on d1.categoryid=c.categoryc
 left join #categorydetails d2 on d2.categoryid=c.categoryx

so how to get data above without using self join

are there are another way to do that without using self join

expected result