SELECT 
  cscart_dosiin_posts.*, 
  cscart_dosiin_post_descriptions.*, 
  cscart_seo_names.name as seo_name, 
  cscart_seo_names.path as seo_path 
FROM 
  cscart_dosiin_posts 
  LEFT JOIN cscart_dosiin_post_categories ON cscart_dosiin_post_categories.post_id = cscart_dosiin_posts.post_id 
  LEFT JOIN cscart_dosiin_categories ON cscart_dosiin_categories.category_id = cscart_dosiin_post_categories.category_id 
  LEFT JOIN cscart_dosiin_post_descriptions ON cscart_dosiin_posts.post_id = cscart_dosiin_post_descriptions.post_id 
  AND cscart_dosiin_post_descriptions.lang_code = 'vi' 
  LEFT JOIN cscart_seo_names ON cscart_seo_names.object_id = cscart_dosiin_posts.post_id 
  AND cscart_seo_names.type = 'b' 
  AND cscart_seo_names.dispatch = '' 
  AND cscart_seo_names.lang_code = 'vi' 
WHERE 
  cscart_dosiin_posts.post_id = 21 
  AND (
    cscart_dosiin_categories.usergroup_ids = '' 
    OR FIND_IN_SET(
      0, cscart_dosiin_categories.usergroup_ids
    ) 
    OR FIND_IN_SET(
      1, cscart_dosiin_categories.usergroup_ids
    )
  ) 
  AND (
    cscart_dosiin_posts.usergroup_ids = '' 
    OR FIND_IN_SET(
      0, cscart_dosiin_posts.usergroup_ids
    ) 
    OR FIND_IN_SET(
      1, cscart_dosiin_posts.usergroup_ids
    )
  ) 
  AND cscart_dosiin_categories.status IN ('A', 'H') 
  AND cscart_dosiin_posts.status IN ('A', 'H')

Query time 0.00219

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "table": {
          "table_name": "cscart_dosiin_posts",
          "access_type": "const",
          "possible_keys": ["PRIMARY", "status"],
          "key": "PRIMARY",
          "key_length": "3",
          "used_key_parts": ["post_id"],
          "ref": ["const"],
          "rows": 1,
          "filtered": 100
        }
      },
      {
        "table": {
          "table_name": "cscart_dosiin_post_descriptions",
          "access_type": "const",
          "possible_keys": ["PRIMARY"],
          "key": "PRIMARY",
          "key_length": "9",
          "used_key_parts": ["post_id", "lang_code"],
          "ref": ["const", "const"],
          "rows": 1,
          "filtered": 100
        }
      },
      {
        "table": {
          "table_name": "cscart_dosiin_post_categories",
          "access_type": "ref",
          "possible_keys": ["PRIMARY"],
          "key": "PRIMARY",
          "key_length": "3",
          "used_key_parts": ["post_id"],
          "ref": ["const"],
          "rows": 1,
          "filtered": 100,
          "using_index": true
        }
      },
      {
        "table": {
          "table_name": "cscart_dosiin_categories",
          "access_type": "eq_ref",
          "possible_keys": ["PRIMARY"],
          "key": "PRIMARY",
          "key_length": "3",
          "used_key_parts": ["category_id"],
          "ref": ["dev_db.cscart_dosiin_post_categories.category_id"],
          "rows": 1,
          "filtered": 100,
          "attached_condition": "(cscart_dosiin_categories.usergroup_ids = '' or find_in_set(0,cscart_dosiin_categories.usergroup_ids) or find_in_set(1,cscart_dosiin_categories.usergroup_ids)) and cscart_dosiin_categories.`status` in ('A','H')"
        }
      },
      {
        "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": ["const", "const", "const", "const"],
          "rows": 2,
          "filtered": 100,
          "attached_condition": "trigcond(cscart_seo_names.`type` = 'b' and cscart_seo_names.dispatch = '' and cscart_seo_names.lang_code = 'vi')"
        }
      }
    ]
  }
}