This demo uses the latest stable version of CiviCRM along with Joomla 4.
Here's a really basic membership signup page for organizations. Individuals use this form to have the organization join as a member. Employees of the organization will inherit membership as well. Lots to configure here, so play around!
This is the text you seen when you're joining as a member for the first time. If you're renewing, you'll see different text that you can cusotmize.