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.company_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' 
  AND cscart_seo_names.company_id = cscart_categories.company_id 
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 '203/%' 
  AND cscart_categories.storefront_id IN (0, 1) 
  AND cscart_categories.company_id = 1 
ORDER BY 
  cscart_categories.is_trash asc, 
  cscart_categories.position asc, 
  cscart_category_descriptions.category asc

Query time 0.00057

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_categories range c_status,id_path id_path 767 12 Using index condition; Using where; Using temporary; Using filesort
1 SIMPLE cscart_category_descriptions eq_ref PRIMARY PRIMARY 9 cscart_dev_4_16.cscart_categories.category_id,const 1 Using where
1 SIMPLE cscart_seo_names eq_ref PRIMARY,dispatch PRIMARY 210 cscart_dev_4_16.cscart_categories.category_id,const,const,const,const 1 Using where

Result

category_id parent_id id_path category position status company_id storefront_id seo_name seo_path
216 215 203/215/216 Backpacks 10 A 1 1 backpacks 203/215
204 203 203/204 Bikes 10 A 1 1 bikes 203
210 204 203/204/210 Comfort & Cruisers 10 A 1 1 comfort-and-cruisers 203/204
212 211 203/211/212 Golf Clubs 10 A 1 1 golf-clubs 203/211
211 203 203/211 Golf 20 A 1 1 golf 203
213 211 203/211/213 Golf Balls 20 A 1 1 golf-balls 203/211
209 204 203/204/209 Road Bikes 20 A 1 1 road-bikes 203/204
217 215 203/215/217 Sleeping Bags 20 A 1 1 sleeping-bags 203/215
215 203 203/215 Camping 30 A 1 1 camping 203
214 211 203/211/214 Golf Bags & Carts 30 A 1 1 golf-bags-and-carts 203/211
208 204 203/204/208 Mountain Bikes 30 A 1 1 mountain-bikes 203/204
218 215 203/215/218 Tents 30 A 1 1 tents 203/215