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, 
  srvd.service_id AS service_id, 
  srvd.title AS service_title, 
  cscart_categories.unit_size, 
  cat.service_type_id, 
  cat.product_template, 
  cat.office_offer_template, 
  cat.office_table_template 
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' 
  LEFT JOIN cscart_service_categories as srvc ON srvc.category_id = cscart_categories.category_id 
  LEFT JOIN cscart_service_descriptions as srvd ON srvd.service_id = srvc.service_id 
  AND srvd.lang_code = cscart_category_descriptions.lang_code 
  LEFT JOIN cscart_categories AS cat ON cat.category_id = cscart_category_descriptions.category_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.storefront_id IN (0, 1) 
  AND cat.category_id IN (
    SELECT 
      DISTINCT parent_id 
    FROM 
      cscart_categories 
    WHERE 
      service_type_id = 2 
      AND parent_id != 0
  ) 
ORDER BY 
  cscart_categories.is_trash asc, 
  cscart_categories.position asc, 
  cscart_category_descriptions.category asc

Query time 0.00212

JSON explain

{
  "query_block": {
    "select_id": 1,
    "filesort": {
      "sort_key": "cscart_categories.is_trash, cscart_categories.position, cscart_category_descriptions.category",
      "temporary_table": {
        "table": {
          "table_name": "<subquery2>",
          "access_type": "ALL",
          "possible_keys": ["distinct_key"],
          "rows": 123,
          "filtered": 100,
          "materialized": {
            "unique": 1,
            "query_block": {
              "select_id": 2,
              "table": {
                "table_name": "cscart_categories",
                "access_type": "ALL",
                "possible_keys": ["parent"],
                "rows": 142,
                "filtered": 87.32394409,
                "attached_condition": "cscart_categories.service_type_id = 2 and cscart_categories.parent_id <> 0"
              }
            }
          }
        },
        "table": {
          "table_name": "cscart_categories",
          "access_type": "eq_ref",
          "possible_keys": ["PRIMARY", "c_status", "p_category_id"],
          "key": "PRIMARY",
          "key_length": "3",
          "used_key_parts": ["category_id"],
          "ref": ["dev.cscart_categories.parent_id"],
          "rows": 1,
          "filtered": 100,
          "attached_condition": "(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` = 'A' and cscart_categories.storefront_id in (0,1)"
        },
        "table": {
          "table_name": "cscart_category_descriptions",
          "access_type": "eq_ref",
          "possible_keys": ["PRIMARY"],
          "key": "PRIMARY",
          "key_length": "9",
          "used_key_parts": ["category_id", "lang_code"],
          "ref": ["dev.cscart_categories.parent_id", "const"],
          "rows": 1,
          "filtered": 100,
          "index_condition": "cscart_category_descriptions.lang_code = 'en'"
        },
        "table": {
          "table_name": "cat",
          "access_type": "eq_ref",
          "possible_keys": ["PRIMARY", "p_category_id"],
          "key": "PRIMARY",
          "key_length": "3",
          "used_key_parts": ["category_id"],
          "ref": ["dev.cscart_categories.parent_id"],
          "rows": 1,
          "filtered": 100
        },
        "table": {
          "table_name": "cscart_seo_names",
          "access_type": "ref",
          "possible_keys": ["PRIMARY", "dispatch"],
          "key": "PRIMARY",
          "key_length": "206",
          "used_key_parts": ["object_id", "type", "dispatch", "lang_code"],
          "ref": ["dev.cscart_categories.parent_id", "const", "const", "const"],
          "rows": 8,
          "filtered": 100,
          "attached_condition": "trigcond(cscart_seo_names.`type` = 'c' and cscart_seo_names.dispatch = '' and cscart_seo_names.lang_code = 'en')"
        },
        "table": {
          "table_name": "srvc",
          "access_type": "eq_ref",
          "possible_keys": ["PRIMARY"],
          "key": "PRIMARY",
          "key_length": "4",
          "used_key_parts": ["category_id"],
          "ref": ["dev.cscart_categories.parent_id"],
          "rows": 1,
          "filtered": 100,
          "attached_condition": "trigcond(srvc.category_id = cscart_categories.category_id)"
        },
        "table": {
          "table_name": "srvd",
          "access_type": "eq_ref",
          "possible_keys": ["PRIMARY"],
          "key": "PRIMARY",
          "key_length": "10",
          "used_key_parts": ["service_id", "lang_code"],
          "ref": [
            "dev.srvc.service_id",
            "dev.cscart_category_descriptions.lang_code"
          ],
          "rows": 1,
          "filtered": 100,
          "attached_condition": "trigcond(trigcond(srvc.service_id is not null))"
        }
      }
    }
  }
}