Extend Query to include additional column
I'm having trouble with exactly where to place the join


Directions is joined to Readers - so you must place it adjacent to this table enclosind this pair in additional parenthesis:

SELECT Users.Name, 
       Users.Surname, 
       Transactions.Timestamp, 
       AccessPoints.Description as Door, 
       Readers.Direction,
       Directions.DirectionsText
FROM ( ( Readers 
         INNER JOIN 
         Directions ON Readers.Direction = Directions.Direction
       )
       INNER JOIN 
       ( AccessPoints 
         INNER JOIN 
         Points_Readers ON AccessPoints.PointID = Points_Readers.PointID
       ) ON Readers.ReaderID = Points_Readers.ReaderID
     ) 
     INNER JOIN 
     ( Transactions 
       INNER JOIN 
       ( AccessNumbers 
         INNER JOIN 
         Users ON AccessNumbers.AccessNumberID = Users.AccessNumberID
       ) ON Transactions.Number = AccessNumbers.Number
     ) ON Readers.ReaderID = Transactions.ReaderID
WHERE (Transactions.Timestamp&gt;#2018-08-15  06:50:16#) 
ORDER BY Transactions.Timestamp;



  that I don't keep getting errors in the FROM clause


Build the query text using Query Builder - it always creates correct code or produce error message if there are any logical problems. 

Or (if you want write query text "by hands" without using the master) rewrite the query to cartesian form (with comma-separated tables list and all joining conditions in WHERE clause) - it do not need the accuracy in parenthessis:

SELECT Users.Name, 
       Users.Surname, 
       Transactions.Timestamp, 
       AccessPoints.Description as Door, 
       Readers.Direction,
       Directions.DirectionsText
FROM Readers, 
     AccessPoints, 
     Points_Readers,
     Transactions, 
     AccessNumbers,
     Users,
     Directions 
WHERE AccessPoints.PointID = Points_Readers.PointID
  AND Readers.ReaderID = Points_Readers.ReaderID
  AND AccessNumbers.AccessNumberID = Users.AccessNumberID
  AND Transactions.Number = AccessNumbers.Number
  AND Readers.ReaderID = Transactions.ReaderID
  AND Readers.Direction = Directions.Direction
  AND Transactions.Timestamp&gt;#2018-08-15 06:50:16#
ORDER BY Transactions.Timestamp;


The order of either tables in FROM clause or conditions in WHERE clause does not matter in those form.