This issue has come up in various forms many times. The short answer is — there isn't a single call that will meet your needs.
I have a few suggestions based on the available and documented options:
If you need to add a `sorts`, ascending or descending, to your request, you'll need to use the Search API.
If you are only working with default objects, Contacts, Companies, Deals, etc, and not custom objects, you may find this endpoint useful — Get associations for a CRM object. But it doesn't offer a `sorts` option. `GET /crm-associations/v1/associations/:objectId/HUBSPOT_DEFINED/:definitionId`
I understand these are not the direct solutions you wanted. And if you are using custom objects or custom associations labels between objects, the second option will not work.