Stephen Curry got the reigning NBA champions off to a bright start, scoring 17 of his 19 points in the first quarter before being rested for much of the second half, leaving Draymond Green and Brandon Rush to pile the points on for the Warriors.
The visitors were four points up with just over three minutes remaining, but LeBron James overhauled the deficit for Cleveland, before scoring the game-winning points with a second remaining.
The home side appeared to be heading for victory as the Raptors made 22 turnovers after falling behind early in the first quarter, but Kyle Lowry and DeMar DeRozan closed the gap late on, before Joseph added a three-pointer at the buzzer to lift the Raptors to the win.
The Spurs surged ahead in the second quarter, opening up a 17-point advantage by half time, while Kawhi Leonard kept the points coming after the break to ensure that the visitors never closed the gap.
There was little between the two sides at half time, but Dallas outscored their opponents 25-5 in the third quarter, with Deron Williams leading the scoring to give the Mavericks a fifth straight home win, while leaving the Nuggets on a six-game losing streak.
The Pelicans made a strong start, with Anthony Davis scoring 16 points in the first quarter, but he was unable to maintain his momentum, leaving Burks and Gordon Hayward to open up a lead for the Jazz.
Damian Lillard and CJ McCollum combined for 57 points for the Blazers, keeping the hosts ahead before Kobe Bryant led a Lakers fightback in the third quarter, but the visitors could not cut the gap to fewer than five points.
Results in full: Toronto Raptors 84-82 Washington Wizards, Brooklyn Nets 88-90 Cleveland Cavaliers, Denver Nuggets 81-92 Dallas Mavericks, Atlanta Hawks 88-108 San Antonio Spurs, New Orleans Pelicans 87-101 Utah Jazz, Los Angeles Lakers 96-108 Portland Trail Blazers, Sacramento Kings 101-120 Golden State Warriors