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SELECT 
  cscart_product_filters.*, 
  cscart_product_features.feature_type 
FROM 
  cscart_product_filters 
  LEFT JOIN cscart_product_features ON cscart_product_features.feature_id = cscart_product_filters.feature_id 
  INNER JOIN cscart_ult_objects_sharing ON (
    cscart_ult_objects_sharing.share_object_id = cscart_product_filters.filter_id 
    AND cscart_ult_objects_sharing.share_company_id = 1 
    AND cscart_ult_objects_sharing.share_object_type = 'product_filters'
  ) 
WHERE 
  cscart_product_filters.filter_id IN (10) 
  AND cscart_product_filters.status = 'A'

Query time 0.00033

Explain
id	select_type	table	type	possible_keys	key	key_len	ref	rows	Extra
1	SIMPLE	cscart_product_filters	const	PRIMARY	PRIMARY	3	const	1
1	SIMPLE	cscart_product_features	const	PRIMARY	PRIMARY	3	const	1
1	SIMPLE	cscart_ult_objects_sharing	const	PRIMARY	PRIMARY	159	const,const,const	1	Using index

Result

filter_id	categories_path	company_id	feature_id	position	field_type	status	round_to	display_count	display	feature_type
10		1	18	0		A	1	10	Y	E