I believe transitive closure could be found in O(m+n) = O(n^2) where m is the cardinality of the relation.
Part 1: if relation is antisymetric (its a DAG): then for any vertex v, the vertices v can reach is the union of the vertices neighbours of v can reach. And none of v’s neighbours depend on v. So, standard DFS will work here
Part 2: any general relation is a antisymetric relation of strongly connected components. These components can be found in O(m+n) time and since every element in a strongly connected component can reach every other element, they all have the same set of reachable vertices. So, one can reduce the problem to part 1 and solve.