¿Vincular insignia SQL a un ID de tema?

Creo que puedes:

SELECT
  u.id AS user_id,
  CURRENT_TIMESTAMP AS granted_at,
  (SELECT id FROM posts WHERE topic_id = YOUR_TOPIC_ID AND post_number = 1) AS post_id
FROM users u
INNER JOIN group_users gu ON gu.user_id = u.id
INNER JOIN groups g ON g.id = gu.group_id
WHERE g.name = 'beta-testers'

Reemplaza YOUR_TOPIC_ID

Y creo que debe tener marcada la opción «Query targets posts».

Dime si funciona.