I just hit this use case in 2020 with Drupal 8. Here's the recipe I used with Display Suite and Views.
Create your DS Block Field using what will be the "child view." A critical setting is the configuration of that field. Set the content to "Node from URL." The default of "None" works fine for a regular node display, but not in a child View.
I also made a custom Display Mode for the content type using DS's 1-col layout and displaying only that block field. This isn't necessary strictly, but is useful if your parent View is field based, as I tend to make them. DS fields aren't true fields, and so aren't recognized by Views. However, there is an option to display a rendered entity as a field in field-based View. I chose that option and set the display mode to use my custom set up with the single field to get around that issue.
My parent View, as noted is field-based. I bring in the desired fields for the main rows with one of those fields being the rendered entity using my display mode. Works like a charm! I have no doubt you could do this with a Content or DS-Content based View, but I haven't experimented with it. I just prefer field based Views.
And if anyone's about to say, "But you can just use Views' grouping functionality," yes that's true, but the markup produced by that out of the box is not very nice when you want several fields "grouped" per row and a simple sublist.