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_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.level <= 3 
  AND cscart_categories.storefront_id IN (0, 1) 
  AND cscart_categories.category_id IN(
    3532, 3535, 3539, 3638, 3748, 4001, 4003, 
    4004, 4254, 4525, 4857, 5268, 5272, 
    5305, 5326, 5385, 7160, 5684, 6536, 
    8356, 8625, 8665, 10254, 10255, 10256, 
    4693, 4791, 10258, 10260
  ) 
ORDER BY 
  cscart_categories.is_trash asc, 
  cscart_categories.position asc, 
  cscart_category_descriptions.category asc

Query time 0.00305

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "41.20"
    },
    "ordering_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "range",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "p_category_id"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id"
            ],
            "key_length": "3",
            "rows_examined_per_scan": 29,
            "rows_produced_per_join": 0,
            "filtered": "0.67",
            "cost_info": {
              "read_cost": "40.70",
              "eval_cost": "0.04",
              "prefix_cost": "40.74",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "category_id",
              "parent_id",
              "id_path",
              "level",
              "company_id",
              "usergroup_ids",
              "status",
              "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`.`level` <= 3) and (`webmarco`.`cscart_categories`.`storefront_id` in (0,1)) and (`webmarco`.`cscart_categories`.`category_id` in (3532,3535,3539,3638,3748,4001,4003,4004,4254,4525,4857,5268,5272,5305,5326,5385,7160,5684,6536,8356,8625,8665,10254,10255,10256,4693,4791,10258,10260)))"
          }
        },
        {
          "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": "0.19",
              "eval_cost": "0.04",
              "prefix_cost": "40.97",
              "data_read_per_join": "807"
            },
            "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": "0.19",
              "eval_cost": "0.04",
              "prefix_cost": "41.20",
              "data_read_per_join": "335"
            },
            "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 seo_name seo_path
10256 10255 10254/10255/10256 Cosmetics 0 A 0 0 cosmetics 10254/10255
4525 4003 4001/4003/4525 Cosmetics 0 A 0 0 cosmetics 4001/4003
5272 4254 4001/4254/5272 Fitness & Nutrition 0 A 0 0 fitness-and-nutrition 4001/4254
4004 4003 4001/4003/4004 Oral Care 0 A 0 0 oral-care 4001/4003
10255 10254 10254/10255 Personal Care 0 A 0 0 personal-care 10254
3535 3532 3532/3535 Food Items 10 A 0 0 food-items 3532
3539 3535 3532/3535/3539 Fruits & Vegetables 10 A 0 0 fruits-and-vegetables 3532/3535
4003 4001 4001/4003 Personal Care 10 A 0 0 personal-care 4001
4001 0 4001 Health & Beauty 20 A 0 0 health-and-beauty
4254 4001 4001/4254 Health Care 20 A 0 0 health-care 4001
6536 5684 5684/6536 Outdoor Recreation 20 A 0 0 outdoor-recreation 5684
3532 0 3532 Food, Beverages & Tobacco 30 A 0 0 food-beverages-and-tobacco
5684 0 5684 Sporting Goods 80 A 0 0 sporting-goods
8356 6536 5684/6536/8356 Boating & Water Sports 210 A 0 0 boating-and-water-sports 5684/6536