Shivam is correct by recommending to use $expand when you want to stick to OData.
If you want to have a response as you described the only way I see is to build your own http service and parse the json response yourself.
I would nevertheless implement the business logic in a RAP BO so that you can reuse it better if features such as enumerations would become available.
Though this is not planned at the moment and I do not know if it is possible at all.
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