SELECT 
  cscart_seo_names.object_id AS product_id, 
  cscart_seo_names.name AS seo_name, 
  cscart_seo_names.path AS seo_path 
FROM 
  cscart_seo_names 
WHERE 
  cscart_seo_names.object_id IN (
    20673, 20947, 22253, 20168, 19430, 19431, 
    19432, 19438, 19439, 19440, 19443, 
    19444, 19445, 19760, 19761, 19814, 
    19815, 19816, 19817, 19819, 19861, 
    20674, 22462, 21341, 19934, 19138, 
    19433, 19434, 19435, 19436, 19437, 
    19441, 19442, 19759, 19818, 19932
  ) 
  AND cscart_seo_names.type = "p" 
  AND cscart_seo_names.dispatch = "" 
  AND cscart_seo_names.lang_code = 'ru' 
  AND (
    cscart_seo_names.company_id = 1 
    OR cscart_seo_names.company_id = 0
  )

Query time 0.00095

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "table": {
          "table_name": "cscart_seo_names",
          "access_type": "range",
          "possible_keys": ["PRIMARY", "dispatch"],
          "key": "PRIMARY",
          "key_length": "210",
          "used_key_parts": [
            "object_id",
            "type",
            "dispatch",
            "lang_code",
            "company_id"
          ],
          "rows": 72,
          "filtered": 100,
          "index_condition": "cscart_seo_names.object_id in (20673,20947,22253,20168,19430,19431,19432,19438,19439,19440,19443,19444,19445,19760,19761,19814,19815,19816,19817,19819,19861,20674,22462,21341,19934,19138,19433,19434,19435,19436,19437,19441,19442,19759,19818,19932) and cscart_seo_names.`type` = 'p' and cscart_seo_names.dispatch = '' and cscart_seo_names.lang_code = 'ru' and (cscart_seo_names.company_id = 1 or cscart_seo_names.company_id = 0)"
        }
      }
    ]
  }
}