verify that xml node contains/exists with a given value tsql

I have the following tables A (ID,relatedID,typeId ) B (ID,leftID,leftTypeId)

I want to join the two tables like this

select * from A inner join B on A.TypeId=B.LeftTypeId ans {condition}

where condition should verify id the leftID would match a value from relatedID, where relatedId is a xml column. Eg. relatedID=<Id>1</Id>

Is there a optimal way to do this?