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 (
    20332, 20474, 21031, 21001, 20588, 20335, 
    21381, 20426, 20425, 20575, 20475, 
    20447, 20448, 21402, 21390, 20589, 
    21400, 21389, 20205, 20997, 20208, 
    21382, 20333, 21384, 21398, 21391, 
    21137, 21386, 20435, 20209, 20998, 
    20211, 21380, 20212, 21583, 21399, 
    21392, 20213, 21385, 21403, 20476, 
    20477, 20479, 20480, 20598, 21027, 
    21030, 21029, 22545, 22546
  ) 
  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 0.00604

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": 100,
          "filtered": 100,
          "index_condition": "cscart_seo_names.object_id in (20332,20474,21031,21001,20588,20335,21381,20426,20425,20575,20475,20447,20448,21402,21390,20589,21400,21389,20205,20997,20208,21382,20333,21384,21398,21391,21137,21386,20435,20209,20998,20211,21380,20212,21583,21399,21392,20213,21385,21403,20476,20477,20479,20480,20598,21027,21030,21029,22545,22546) 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)"
        }
      }
    ]
  }
}