You can map objects to db updates, and map query results to objects. Neither of those objects needs to have a mapping to actual relations, like how ORMs insist on.
No, ORMs abstract away the relational database and present it as if it were some kind of object database. Needing to map query results to structs is just incidental, and is completely missing the point of an ORM.
If copying query results to a list of structs is enough to qualify as an ORM, then the term is so generic as to be entirely useless.
This is clearly not what anyone means when they say they don't want an ORM.
An ORM library maps an entire relational database to a graph of objects, with the intention of abstracting away the relational database. Copying query results to structs doesn't actually do any of that.
Majority of ORMs really are nothing more than this.
But then it's nice to have something that generates optimised, database-specific SQL, can handle date/number conversion, supports many-many relationships, converting BLOB to binary streams etc.