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.parent_id IN (394) 
  AND cscart_categories.id_path LIKE '266/394/%' 
  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 0.00189

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "19.32"
    },
    "ordering_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "ref",
            "possible_keys": [
              "c_status",
              "parent",
              "id_path"
            ],
            "key": "parent",
            "used_key_parts": [
              "parent_id"
            ],
            "key_length": "3",
            "ref": [
              "const"
            ],
            "rows_examined_per_scan": 16,
            "rows_produced_per_join": 0,
            "filtered": "0.31",
            "cost_info": {
              "read_cost": "16.00",
              "eval_cost": "0.01",
              "prefix_cost": "19.20",
              "data_read_per_join": "303"
            },
            "used_columns": [
              "category_id",
              "parent_id",
              "id_path",
              "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`.`id_path` like '266/394/%') 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": "0.05",
              "eval_cost": "0.01",
              "prefix_cost": "19.26",
              "data_read_per_join": "208"
            },
            "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": "0.05",
              "eval_cost": "0.01",
              "prefix_cost": "19.32",
              "data_read_per_join": "86"
            },
            "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
395 394 266/394/395 Car Repair 10 A 0 0 car-repair 266/394
398 394 266/394/398 Car Painting 20 A 0 0 car-painting 266/394
399 394 266/394/399 Car Wash 30 A 0 0 car-wash 266/394
1861 394 266/394/1861 Car Wrapping 40 A 0 0 car-wrapping 266/394
2389 394 266/394/2389 Car Sales 50 A 0 0 car-sales 266/394
2554 394 266/394/2554 Colonnine di Ricarica per Auto 60 A 0 0 colonnine-di-ricarica-per-auto-en 266/394
9294 394 266/394/9294 Hydrogen Engine Cleaning 70 A 0 0 hydrogen-engine-cleaning 266/394
9623 394 266/394/9623 Driving School 2020 A 0 0 driving-school 266/394
9921 394 266/394/9921 Auto Servis 2030 A 0 0 auto-servis-en 266/394
9922 394 266/394/9922 Vulcanizer 2040 A 0 0 vulcanizer 266/394
9923 394 266/394/9923 Car Insurance 2050 A 0 0 car-insurance 266/394
9924 394 266/394/9924 Car Financials 2060 A 0 0 car-financials 266/394
9940 394 266/394/9940 Lubricants 2070 A 0 0 lubricants 266/394
9941 394 266/394/9941 Tyres 2080 A 0 0 tyres 266/394
9942 394 266/394/9942 Battery 2090 A 0 0 battery 266/394
9943 394 266/394/9943 Spare Parts 2100 A 0 0 spare-parts 266/394