SELECT 
  cscart_categories.category_id, 
  cscart_categories.parent_id, 
  cscart_categories.id_path, 
  cscart_category_descriptions.category, 
  cscart_categories.position, 
  cscart_categories.status, 
  cscart_categories.company_id, 
  cscart_categories.storefront_id, 
  cscart_categories.product_count, 
  cscart_seo_names.name as seo_name, 
  cscart_seo_names.path as seo_path 
FROM 
  cscart_categories 
  LEFT JOIN cscart_category_descriptions ON cscart_categories.category_id = cscart_category_descriptions.category_id 
  AND cscart_category_descriptions.lang_code = 'en' 
  LEFT JOIN cscart_seo_names ON cscart_seo_names.object_id = cscart_categories.category_id 
  AND cscart_seo_names.type = 'c' 
  AND cscart_seo_names.dispatch = '' 
  AND cscart_seo_names.lang_code = 'en' 
WHERE 
  1 = 1 
  AND (
    cscart_categories.usergroup_ids = '' 
    OR FIND_IN_SET(
      0, cscart_categories.usergroup_ids
    ) 
    OR FIND_IN_SET(
      1, cscart_categories.usergroup_ids
    )
  ) 
  AND cscart_categories.status IN ('A') 
  AND cscart_categories.id_path LIKE '2653/2658/2763/%' 
  AND cscart_categories.storefront_id IN (0, 1) 
ORDER BY 
  cscart_categories.is_trash asc, 
  cscart_categories.position asc, 
  cscart_category_descriptions.category asc

Query time 0.00181

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "44.45"
    },
    "ordering_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "range",
            "possible_keys": [
              "c_status",
              "id_path"
            ],
            "key": "id_path",
            "used_key_parts": [
              "id_path"
            ],
            "key_length": "767",
            "rows_examined_per_scan": 30,
            "rows_produced_per_join": 0,
            "filtered": "2.00",
            "index_condition": "(`webmarco`.`cscart_categories`.`id_path` like '2653/2658/2763/%')",
            "cost_info": {
              "read_cost": "42.89",
              "eval_cost": "0.12",
              "prefix_cost": "43.01",
              "data_read_per_join": "3K"
            },
            "used_columns": [
              "category_id",
              "parent_id",
              "id_path",
              "company_id",
              "usergroup_ids",
              "status",
              "product_count",
              "position",
              "is_trash",
              "storefront_id"
            ],
            "attached_condition": "(((`webmarco`.`cscart_categories`.`usergroup_ids` = '') or find_in_set(0,`webmarco`.`cscart_categories`.`usergroup_ids`) or find_in_set(1,`webmarco`.`cscart_categories`.`usergroup_ids`)) and (`webmarco`.`cscart_categories`.`status` = 'A') and (`webmarco`.`cscart_categories`.`storefront_id` in (0,1)))"
          }
        },
        {
          "table": {
            "table_name": "cscart_category_descriptions",
            "access_type": "eq_ref",
            "possible_keys": [
              "PRIMARY"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id",
              "lang_code"
            ],
            "key_length": "9",
            "ref": [
              "webmarco.cscart_categories.category_id",
              "const"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 0,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "0.60",
              "eval_cost": "0.12",
              "prefix_cost": "43.73",
              "data_read_per_join": "2K"
            },
            "used_columns": [
              "category_id",
              "lang_code",
              "category"
            ]
          }
        },
        {
          "table": {
            "table_name": "cscart_seo_names",
            "access_type": "ref",
            "possible_keys": [
              "PRIMARY",
              "dispatch"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "object_id",
              "type",
              "dispatch",
              "lang_code"
            ],
            "key_length": "206",
            "ref": [
              "webmarco.cscart_categories.category_id",
              "const",
              "const",
              "const"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 0,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "0.60",
              "eval_cost": "0.12",
              "prefix_cost": "44.45",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "name",
              "object_id",
              "company_id",
              "type",
              "dispatch",
              "path",
              "lang_code"
            ]
          }
        }
      ]
    }
  }
}

Result

category_id parent_id id_path category position status company_id storefront_id product_count seo_name seo_path
9365 2763 2653/2658/2763/9365 Bras 0 A 0 0 573 bras-en 2653/2658/2763
9539 9538 2653/2658/2763/9538/9539 Garters 0 A 0 0 86 garters 2653/2658/2763/9538
9540 2763 2653/2658/2763/9540 Hosiery 0 A 0 0 30 hosiery-en 2653/2658/2763
9541 2763 2653/2658/2763/9541 Lingerie 0 A 0 0 7 lingerie-en 2653/2658/2763
9538 2763 2653/2658/2763/9538 Lingerie Accessories 0 A 0 0 0 lingerie-accessories-en 2653/2658/2763
2856 2763 2653/2658/2763/2856 Bra Accessories 10 A 0 0 1 bra-accessories 2653/2658/2763
2870 2856 2653/2658/2763/2856/2870 Bra Strap Pads 10 A 0 0 0 bra-strap-pads 2653/2658/2763/2856
2888 2763 2653/2658/2763/2888 Bras 10 A 0 0 33 bras 2653/2658/2763
2899 2895 2653/2658/2763/2895/2899 Garter Belts 10 A 0 0 0 garter-belts 2653/2658/2763/2895
10570 2779 2653/2658/2763/2779/10570 Men 10 A 0 0 80 meshkuj 2653/2658/2763/2779
2775 2763 2653/2658/2763/2775 Shapewear 10 A 0 0 88 shapewear 2653/2658/2763
2883 2856 2653/2658/2763/2856/2883 Bra Straps & Extenders 20 A 0 0 0 bra-straps-and-extenders 2653/2658/2763/2856
2906 2895 2653/2658/2763/2895/2906 Garters 20 A 0 0 0 garters 2653/2658/2763/2895
2779 2763 2653/2658/2763/2779 Socks 20 A 0 0 139 socks 2653/2658/2763
10571 2779 2653/2658/2763/2779/10571 Women 20 A 0 0 32 femra 2653/2658/2763/2779
2885 2856 2653/2658/2763/2856/2885 Breast Enhancing Inserts 30 A 0 0 1 breast-enhancing-inserts 2653/2658/2763/2856
2890 2763 2653/2658/2763/2890 Hosiery 30 A 0 0 0 hosiery 2653/2658/2763
10572 2779 2653/2658/2763/2779/10572 Kids 30 A 0 0 0 femije 2653/2658/2763/2779
2887 2856 2653/2658/2763/2856/2887 Breast Petals & Concealers 40 A 0 0 0 breast-petals-and-concealers 2653/2658/2763/2856
10573 2779 2653/2658/2763/2779/10573 Modal 40 A 0 0 44 modal 2653/2658/2763/2779
10574 2779 2653/2658/2763/2779/10574 Bamboo 50 A 0 0 68 bamboo 2653/2658/2763/2779
10575 2779 2653/2658/2763/2779/10575 Diabetic 60 A 0 0 30 diabetik 2653/2658/2763/2779
2785 2763 2653/2658/2763/2785 Underwear 1020 A 0 0 81 underwear 2653/2658/2763
2791 2763 2653/2658/2763/2791 Undershirts 1030 A 0 0 158 undershirts 2653/2658/2763
2795 2763 2653/2658/2763/2795 Underwear Slips 1040 A 0 0 2338 underwear-slips 2653/2658/2763
2892 2763 2653/2658/2763/2892 Jock Straps 1050 A 0 0 0 jock-straps 2653/2658/2763
2894 2763 2653/2658/2763/2894 Lingerie 1060 A 0 0 0 lingerie 2653/2658/2763
2895 2763 2653/2658/2763/2895 Lingerie Accessories 1070 A 0 0 10 lingerie-accessories 2653/2658/2763
2908 2763 2653/2658/2763/2908 Long Johns 1080 A 0 0 0 long-johns 2653/2658/2763
2909 2763 2653/2658/2763/2909 Petticoats & Pettipants 1090 A 0 0 0 petticoats-and-pettipants 2653/2658/2763