[SalesForce] SOQL to pull out Approval History records

Can someone let me know of SOQL that can pull out all these fields from Approval History ?

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Action, Date, Status, Assigned To, Actual Approver, Comments, Overall Status

So far I found out that we can get all the approvals (for one record) using the following query

SELECT Id FROM ProcessInstance WHERE TARGETOBJECTID = "record id here" ORDER BY CreatedDate DESC

This gives me all the processinstances as shown below.

enter image description here

Then I queried ProcessInstanceNode to get various information like

Action, Date, Status

enter image description here

But I am not sure how to get other information like "Assigned To, Actual Approver, Comments and Overall Status"

Can someone help ?

EDIT :
I am getting an error while using @sfdcfox query.
Please see the screenshot below.
enter image description here

Best Answer

You can Query ProcessInstance and get related details from child records. Here is sample code for you.

for (Account a : [SELECT Id,(SELECT ID FROM ProcessInstances  ORDER BY CreatedDate DESC) FROM Account WHERE ID  =:accId])
{
    for(ProcessInstance pi :a.ProcessInstances)
        processInstanceIds.add(pi.Id);
}

// Now that we have the most recent process instances, we can check
// the moRst recent process steps for comments.  
for (ProcessInstance pi : [SELECT TargetObjectId,LastActorId,LastActor.Name,(SELECT Id, ActorId,OriginalActor.Name,Comments, ProcessInstanceId FROM StepsAndWorkitems WHERE StepStatus != 'Started' AND StepStatus != 'Pending' Order BY ID DESC), (SELECT Id, StepStatus, Comments  FROM Steps ORDER BY CreatedDate DESC LIMIT 1 )
                       FROM ProcessInstance WHERE Id IN :processInstanceIds ORDER BY CreatedDate DESC])
{
    //approvalMap.put(pi.LastActor.Name,'');
    // If no comment exists, then prevent the object from saving.                 
    if (pi.StepsAndWorkitems.size() > 0)
        for(ProcessInstanceHistory pih :pi.StepsAndWorkitems)
            approvalList.add(new wrapperclass(pih.OriginalActor.Name,pih.Comments));
    else
        approvalList.add(new wrapperclass(pi.LastActor.Name,''));

}
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