SELECT 
  tconnect_categories.category_id, 
  tconnect_categories.parent_id, 
  tconnect_categories.id_path, 
  tconnect_category_descriptions.category, 
  tconnect_categories.position, 
  tconnect_categories.status, 
  tconnect_categories.company_id, 
  tconnect_categories.storefront_id, 
  tconnect_categories.product_count, 
  tconnect_seo_names.name as seo_name, 
  tconnect_seo_names.path as seo_path, 
  tconnect_categories.timestamp, 
  tconnect_category_descriptions.ab__custom_category_h1, 
  tconnect_companies.company 
FROM 
  tconnect_categories 
  LEFT JOIN tconnect_category_descriptions ON tconnect_categories.category_id = tconnect_category_descriptions.category_id 
  AND tconnect_category_descriptions.lang_code = 'en' 
  LEFT JOIN tconnect_seo_names ON tconnect_seo_names.object_id = tconnect_categories.category_id 
  AND tconnect_seo_names.type = 'c' 
  AND tconnect_seo_names.dispatch = '' 
  AND tconnect_seo_names.lang_code = 'en' 
  LEFT JOIN tconnect_companies ON tconnect_companies.company_id = tconnect_categories.company_id 
WHERE 
  1 = 1 
  AND (
    tconnect_categories.usergroup_ids = '' 
    OR FIND_IN_SET(
      0, tconnect_categories.usergroup_ids
    ) 
    OR FIND_IN_SET(
      1, tconnect_categories.usergroup_ids
    )
  ) 
  AND tconnect_categories.status IN ('A') 
  AND tconnect_categories.category_id IN (241, 243) 
  AND tconnect_categories.storefront_id IN (0, 3) 
ORDER BY 
  tconnect_categories.is_trash asc, 
  tconnect_categories.position asc, 
  tconnect_category_descriptions.category asc

Query time 0.00220

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost": 0.01569344,
    "filesort": {
      "sort_key": "tconnect_categories.is_trash, tconnect_categories.position, tconnect_category_descriptions.category",
      "temporary_table": {
        "nested_loop": [
          {
            "table": {
              "table_name": "tconnect_categories",
              "access_type": "range",
              "possible_keys": ["PRIMARY", "c_status", "p_category_id"],
              "key": "PRIMARY",
              "key_length": "3",
              "used_key_parts": ["category_id"],
              "loops": 1,
              "rows": 2,
              "cost": 0.004212994,
              "filtered": 100,
              "index_condition": "tconnect_categories.category_id in (241,243)",
              "attached_condition": "(tconnect_categories.usergroup_ids = '' or find_in_set(0,tconnect_categories.usergroup_ids) or find_in_set(1,tconnect_categories.usergroup_ids)) and tconnect_categories.`status` = 'A' and tconnect_categories.storefront_id in (0,3)"
            }
          },
          {
            "table": {
              "table_name": "tconnect_category_descriptions",
              "access_type": "eq_ref",
              "possible_keys": ["PRIMARY"],
              "key": "PRIMARY",
              "key_length": "9",
              "used_key_parts": ["category_id", "lang_code"],
              "ref": ["tconnect.tconnect_categories.category_id", "const"],
              "loops": 2,
              "rows": 1,
              "cost": 0.003662852,
              "filtered": 100,
              "attached_condition": "trigcond(tconnect_category_descriptions.lang_code = 'en')"
            }
          },
          {
            "table": {
              "table_name": "tconnect_seo_names",
              "access_type": "ref",
              "possible_keys": ["PRIMARY", "dispatch"],
              "key": "PRIMARY",
              "key_length": "206",
              "used_key_parts": ["object_id", "type", "dispatch", "lang_code"],
              "ref": [
                "tconnect.tconnect_categories.category_id",
                "const",
                "const",
                "const"
              ],
              "loops": 2,
              "rows": 1,
              "cost": 0.004101782,
              "filtered": 100,
              "attached_condition": "trigcond(tconnect_seo_names.`type` = 'c' and tconnect_seo_names.dispatch = '' and tconnect_seo_names.lang_code = 'en')"
            }
          },
          {
            "table": {
              "table_name": "tconnect_companies",
              "access_type": "eq_ref",
              "possible_keys": ["PRIMARY"],
              "key": "PRIMARY",
              "key_length": "4",
              "used_key_parts": ["company_id"],
              "ref": ["tconnect.tconnect_categories.company_id"],
              "loops": 3.655,
              "rows": 1,
              "cost": 0.003715812,
              "filtered": 100
            }
          }
        ]
      }
    }
  }
}

Result

category_id parent_id id_path category position status company_id storefront_id product_count seo_name seo_path timestamp ab__custom_category_h1 company
243 241 241/243 Movies (DVD) 20 A 0 0 5 movies-dvd 241 1328475600
241 0 241 Movies & TV 60 A 0 0 0 movies-and-tv 1328475600