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SELECT 
  *, 
  seo_names.name as seo_name, 
  seo_names.path as seo_path 
FROM 
  categories 
  LEFT JOIN category_descriptions ON category_descriptions.category_id = categories.category_id 
  AND category_descriptions.lang_code = 'en' 
  LEFT JOIN seo_names ON seo_names.object_id = 130 
  AND seo_names.type = 'c' 
  AND seo_names.dispatch = '' 
  AND seo_names.lang_code = 'en' 
WHERE 
  categories.category_id = 130 
  AND (
    categories.usergroup_ids = '' 
    OR FIND_IN_SET(0, categories.usergroup_ids) 
    OR FIND_IN_SET(1, categories.usergroup_ids)
  )

Query time 0.00073

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "0.90"
    },
    "nested_loop": [
      {
        "table": {
          "table_name": "categories",
          "access_type": "const",
          "possible_keys": [
            "PRIMARY",
            "c_status",
            "p_category_id"
          ],
          "key": "PRIMARY",
          "used_key_parts": [
            "category_id"
          ],
          "key_length": "3",
          "ref": [
            "const"
          ],
          "rows_examined_per_scan": 1,
          "rows_produced_per_join": 1,
          "filtered": "100.00",
          "cost_info": {
            "read_cost": "0.00",
            "eval_cost": "0.10",
            "prefix_cost": "0.00",
            "data_read_per_join": "2K"
          },
          "used_columns": [
            "category_id",
            "parent_id",
            "id_path",
            "level",
            "company_id",
            "usergroup_ids",
            "status",
            "product_count",
            "position",
            "timestamp",
            "is_op",
            "localization",
            "age_verification",
            "age_limit",
            "parent_age_verification",
            "parent_age_limit",
            "selected_views",
            "default_view",
            "product_details_view",
            "product_columns",
            "is_trash",
            "is_default",
            "category_type",
            "ss_vendor_categories",
            "deleted_at",
            "storefront_id"
          ]
        }
      },
      {
        "table": {
          "table_name": "category_descriptions",
          "access_type": "const",
          "possible_keys": [
            "PRIMARY"
          ],
          "key": "PRIMARY",
          "used_key_parts": [
            "category_id",
            "lang_code"
          ],
          "key_length": "9",
          "ref": [
            "const",
            "const"
          ],
          "rows_examined_per_scan": 1,
          "rows_produced_per_join": 1,
          "filtered": "100.00",
          "cost_info": {
            "read_cost": "0.00",
            "eval_cost": "0.10",
            "prefix_cost": "0.00",
            "data_read_per_join": "4K"
          },
          "used_columns": [
            "category_id",
            "lang_code",
            "category",
            "description",
            "meta_keywords",
            "meta_description",
            "page_title",
            "age_warning_message",
            "mega_m_category_banner_url",
            "mega_m_category_svg_icon",
            "custom_header"
          ]
        }
      },
      {
        "table": {
          "table_name": "seo_names",
          "access_type": "ref",
          "possible_keys": [
            "PRIMARY",
            "dispatch"
          ],
          "key": "PRIMARY",
          "used_key_parts": [
            "object_id",
            "type",
            "dispatch",
            "lang_code"
          ],
          "key_length": "206",
          "ref": [
            "const",
            "const",
            "const",
            "const"
          ],
          "rows_examined_per_scan": 1,
          "rows_produced_per_join": 1,
          "filtered": "100.00",
          "cost_info": {
            "read_cost": "0.80",
            "eval_cost": "0.10",
            "prefix_cost": "0.90",
            "data_read_per_join": "1K"
          },
          "used_columns": [
            "name",
            "object_id",
            "company_id",
            "type",
            "dispatch",
            "path",
            "lang_code"
          ]
        }
      }
    ]
  }
}

Result

category_id	parent_id	id_path	level	company_id	usergroup_ids	status	product_count	position	timestamp	is_op	localization	age_verification	age_limit	parent_age_verification	parent_age_limit	selected_views	default_view	product_details_view	product_columns	is_trash	is_default	category_type	ss_vendor_categories	deleted_at	storefront_id	lang_code	category	description	meta_keywords	meta_description	page_title	age_warning_message	mega_m_category_banner_url	mega_m_category_svg_icon	custom_header	name	object_id	type	dispatch	path	seo_name	seo_path
130	3	3/130	2	0	0	A	30	110	1586923200	N		N	0	N	0			default	0	N	N	C	N		0	en	Shoes		handmade shoes, handmade leather shoes, handmade boots, men's handmade shoes, women's handmade shoes	Shop Goimagine's selection of handmade shoes including our handmade leather shoes, handmade boots, and handmade shoes for men and women. All made here in the USA.	Shoes: Handmade Shoes \| Handmade Leather Shoes \| Handmade Boots				Handmade Shoes	shoes	130	c		3	shoes	3