The sentence about Joan is good. There's no rule against having different tenses, so long as they make sense. An easy example to demonstrate this is, "I've been to Tahiti twice and would love to see it again."
The present perfect tense has several different functions, and one difference between your two sentences is the function. Your sentence about Joan has the function of "a finished event in the past that has a present effect". Your sentence about Tom has the function of, "a continuous event that began in the past and continues to the present".
Another difference is that the Joan sentence also has a simple past tense. Normally, a simple past verb must have a finished time for when it happened. In "Joan walked out and has left her bag", "walked out" provides the context for "has left her bag", so it takes the implied time frame of "recently" from "has left her bag". It could be rephrased with both verbs in the present perfect:
Joan has walked out and left her bag.
(Here, though "left" is on its own and looks like simple past, it's actually the past participle, forming present perfect by sharing the "has" with "walked out".)