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, 
  cscart_categories.ab__lc_catalog_image_control, 
  cscart_categories.ab__fn_category_status, 
  cscart_categories.ab__fn_label_color, 
  cscart_categories.ab__fn_label_background, 
  cscart_categories.ab__fn_use_origin_image, 
  cscart_category_descriptions.ab__fn_label_text, 
  cscart_category_descriptions.ab__fn_label_show, 
  cscart_categories.age_verification, 
  cscart_categories.age_limit, 
  cscart_category_descriptions.age_warning_message, 
  cscart_category_descriptions.ab__custom_category_h1 
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 (3415) 
  AND cscart_categories.id_path LIKE '3415/%' 
  AND cscart_categories.category_id != 414 
  AND cscart_categories.parent_id != 414 
  AND cscart_categories.storefront_id IN (0, 3) 
ORDER BY 
  cscart_categories.is_trash asc, 
  cscart_categories.position asc, 
  cscart_category_descriptions.category asc

Query time 0.00171

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "26.10"
    },
    "ordering_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "ref",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "parent",
              "id_path",
              "p_category_id"
            ],
            "key": "parent",
            "used_key_parts": [
              "parent_id"
            ],
            "key_length": "3",
            "ref": [
              "const"
            ],
            "rows_examined_per_scan": 38,
            "rows_produced_per_join": 0,
            "filtered": "0.13",
            "cost_info": {
              "read_cost": "9.50",
              "eval_cost": "0.01",
              "prefix_cost": "13.30",
              "data_read_per_join": "181"
            },
            "used_columns": [
              "category_id",
              "parent_id",
              "id_path",
              "company_id",
              "usergroup_ids",
              "status",
              "position",
              "age_verification",
              "age_limit",
              "is_trash",
              "ab__lc_catalog_image_control",
              "ab__fn_category_status",
              "ab__fn_label_color",
              "ab__fn_label_background",
              "ab__fn_use_origin_image",
              "storefront_id"
            ],
            "attached_condition": "(((`s2cart`.`cscart_categories`.`usergroup_ids` = '') or (0 <> find_in_set(0,`s2cart`.`cscart_categories`.`usergroup_ids`)) or (0 <> find_in_set(1,`s2cart`.`cscart_categories`.`usergroup_ids`))) and (`s2cart`.`cscart_categories`.`status` = 'A') and (`s2cart`.`cscart_categories`.`id_path` like '3415/%') and (`s2cart`.`cscart_categories`.`category_id` <> 414) and (`s2cart`.`cscart_categories`.`storefront_id` in (0,3)))"
          }
        },
        {
          "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": [
              "s2cart.cscart_categories.category_id",
              "const"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 0,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "0.01",
              "eval_cost": "0.01",
              "prefix_cost": "13.32",
              "data_read_per_join": "324"
            },
            "used_columns": [
              "category_id",
              "lang_code",
              "category",
              "age_warning_message",
              "ab__custom_category_h1",
              "ab__fn_label_text",
              "ab__fn_label_show"
            ]
          }
        },
        {
          "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": [
              "s2cart.cscart_categories.category_id",
              "const",
              "const",
              "const"
            ],
            "rows_examined_per_scan": 696,
            "rows_produced_per_join": 34,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "9.30",
              "eval_cost": "3.48",
              "prefix_cost": "26.10",
              "data_read_per_join": "58K"
            },
            "used_columns": [
              "name",
              "object_id",
              "type",
              "dispatch",
              "path",
              "lang_code"
            ]
          }
        }
      ]
    }
  }
}

Result

category_id parent_id id_path category position status company_id storefront_id seo_name seo_path ab__lc_catalog_image_control ab__fn_category_status ab__fn_label_color ab__fn_label_background ab__fn_use_origin_image ab__fn_label_text ab__fn_label_show age_verification age_limit age_warning_message ab__custom_category_h1
3416 3415 3415/3416 Alarm Annunciator 0 A 0 0 alarm-annunciator 3415 none Y #ffffff #333333 N N N 0
3420 3415 3415/3420 Converter 0 A 0 0 converter 3415 none Y #ffffff #333333 N N N 0
3421 3415 3415/3421 Current Sensor 0 A 0 0 current-sensor 3415 none Y #ffffff #333333 N N N 0
3422 3415 3415/3422 Digital Counters 0 A 0 0 digital-counters 3415 none Y #ffffff #333333 N N N 0
3424 3415 3415/3424 Encoders 0 A 0 0 encoders 3415 none Y #ffffff #333333 N N N 0
3425 3415 3415/3425 Flex Drive 0 A 0 0 flex-drive 3415 none Y #ffffff #333333 N N N 0
3426 3415 3415/3426 Flow Sensor (Switch) 0 A 0 0 flow-sensor-switch 3415 none Y #ffffff #333333 N N N 0
3427 3415 3415/3427 Gas Sensor 0 A 0 0 gas-sensor 3415 none Y #ffffff #333333 N N N 0
3428 3415 3415/3428 Human Machine Interface (HMI) 0 A 0 0 human-machine-interface-hmi 3415 none Y #ffffff #333333 N N N 0
3429 3415 3415/3429 Industrial Displacement Sensor 0 A 0 0 industrial-displacement-sensor 3415 none Y #ffffff #333333 N N N 0
3431 3415 3415/3431 Latching Relay and Its Accessories 0 A 0 0 latching-relay-and-its-accessories 3415 none Y #ffffff #333333 N N N 0
3432 3415 3415/3432 Level Sensor or Controller 0 A 0 0 level-sensor-or-controller 3415 none Y #ffffff #333333 N N N 0
3433 3415 3415/3433 Light Curtain or Area Sensors (Picking Sensor) 0 A 0 0 light-curtain-or-area-sensors-picking-sensor 3415 none Y #ffffff #333333 N N N 0
3434 3415 3415/3434 Limit Switches 0 A 0 0 limit-switches 3415 none Y #ffffff #333333 N N N 0
3435 3415 3415/3435 Linear Guide 0 A 0 0 linear-guide 3415 none Y #ffffff #333333 N N N 0
3436 3415 3415/3436 Magnetic Cylinder Sensor 0 A 0 0 magnetic-cylinder-sensor 3415 none Y #ffffff #333333 N N N 0
3437 3415 3415/3437 Memory and Control Unit 0 A 0 0 memory-and-control-unit 3415 none Y #ffffff #333333 N N N 0
3439 3415 3415/3439 Photoelectric Sensors 0 A 0 0 photoelectric-sensors 3415 none Y #ffffff #333333 N N N 0
3440 3415 3415/3440 PIR Sensor 0 A 0 0 pir-sensor 3415 none Y #ffffff #333333 N N N 0
3441 3415 3415/3441 PLC Expansion Cards and Accessories 0 A 0 0 plc-expansion-cards-and-accessories 3415 none Y #ffffff #333333 N N N 0
3442 3415 3415/3442 Power Controller 0 A 0 0 power-controller 3415 none Y #ffffff #333333 N N N 0
3443 3415 3415/3443 Pressure Sensor 0 A 0 0 pressure-sensor 3415 none Y #ffffff #333333 N N N 0
3444 3415 3415/3444 Programmable Logic controllers (PLC) 0 A 0 0 programmable-logic-controllers-plc 3415 none Y #ffffff #333333 N N N 0
3445 3415 3415/3445 Proximity Sensors and its Connectors 0 A 0 0 proximity-sensors-and-its-connectors 3415 none Y #ffffff #333333 N N N 0
3451 3415 3415/3451 Relay Cards 0 A 0 0 relay-cards 3415 none Y #ffffff #333333 N N N 0
3453 3415 3415/3453 Remote Control Switch 0 A 0 0 remote-control-switch 3415 none Y #ffffff #333333 N N N 0
3454 3415 3415/3454 Rotating and Flashing Lights 0 A 0 0 rotating-and-flashing-lights 3415 none Y #ffffff #333333 N N N 0
3455 3415 3415/3455 Sensor Controller and Operating Unit 0 A 0 0 sensor-controller-and-operating-unit 3415 none Y #ffffff #333333 N N N 0
3456 3415 3415/3456 Servo Motor 0 A 0 0 servo-motor 3415 none Y #ffffff #333333 N N N 0
3457 3415 3415/3457 Socket For Relays and Timers 0 A 0 0 socket-for-relays-and-timers 3415 none Y #ffffff #333333 N N N 0
3458 3415 3415/3458 Solid State Relays and Modules (SSR) 0 A 0 0 solid-state-relays-and-modules-ssr 3415 none Y #ffffff #333333 N N N 0
3459 3415 3415/3459 Switched Mode Power Supply (SMPS) 0 A 0 0 switched-mode-power-supply-smps 3415 none Y #ffffff #333333 N N N 0
3460 3415 3415/3460 Temperature Indicators 0 A 0 0 temperature-indicators 3415 none Y #ffffff #333333 N N N 0
3461 3415 3415/3461 Temperature or PID Controllers 0 A 0 0 temperature-or-pid-controllers 3415 none Y #ffffff #333333 N N N 0
3462 3415 3415/3462 Temperature Scanner 0 A 0 0 temperature-scanner 3415 none Y #ffffff #333333 N N N 0
3463 3415 3415/3463 Temperature Sensor 0 A 0 0 temperature-sensor 3415 none Y #ffffff #333333 N N N 0
3464 3415 3415/3464 Time Switch 0 A 0 0 time-switch 3415 none Y #ffffff #333333 N N N 0
3465 3415 3415/3465 Timers 0 A 0 0 timers 3415 none Y #ffffff #333333 N N N 0
3466 3415 3415/3466 Tower Lights and its Accessories 0 A 0 0 tower-lights-and-its-accessories 3415 none Y #ffffff #333333 N N N 0
3468 3415 3415/3468 Water Over-Flow Controller 0 A 0 0 water-over-flow-controller 3415 none Y #ffffff #333333 N N N 0