Can you do this in the subreport?
the main report links to the subreport by what, a date? what else is on the main report? I am not a big fan of subreports as the hit database for every call, so if you main report has 100 rows, there are 101 calls to the database, which can be a big performance hit. So if there is a way to incorporate the orders and the shipments into the main report, it should run faster and the ability to perform and full outer join is available.
If not, you might think of linking the subreport based on a date (which might be a parameter) or a range of dates, instead of a date from the order table.