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 (
    21594, 20403, 21595, 20400, 21596, 20399, 
    21597, 20405, 21598, 21060, 21599, 
    21061, 21062, 21601, 21063, 21064, 
    21603, 23844, 23845, 23846, 23847, 
    23848, 23849, 23850
  ) 
  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 0.00077

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": 48,
          "filtered": 100,
          "index_condition": "cscart_seo_names.object_id in (21594,20403,21595,20400,21596,20399,21597,20405,21598,21060,21599,21061,21062,21601,21063,21064,21603,23844,23845,23846,23847,23848,23849,23850) 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)"
        }
      }
    ]
  }
}