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 (
    421, 1930, 1931, 1529, 1465, 1932, 1962, 
    1933, 1935, 1958, 428, 406, 390, 1929, 
    398, 435, 419, 403, 324, 440, 431, 1963, 
    385, 405
  ) 
  AND cscart_seo_names.type = "p" 
  AND cscart_seo_names.dispatch = "" 
  AND cscart_seo_names.lang_code = 'en' 
  AND (
    cscart_seo_names.company_id = 1 
    OR cscart_seo_names.company_id = 0
  )

Query time 0.00082

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "115.21"
    },
    "table": {
      "table_name": "cscart_seo_names",
      "access_type": "range",
      "possible_keys": [
        "PRIMARY",
        "dispatch"
      ],
      "key": "PRIMARY",
      "used_key_parts": [
        "object_id",
        "type",
        "dispatch",
        "lang_code",
        "company_id"
      ],
      "key_length": "210",
      "rows_examined_per_scan": 48,
      "rows_produced_per_join": 48,
      "filtered": "100.00",
      "index_condition": "((`eshopuga_upgr_4122`.`cscart_seo_names`.`object_id` in (421,1930,1931,1529,1465,1932,1962,1933,1935,1958,428,406,390,1929,398,435,419,403,324,440,431,1963,385,405)) and (`eshopuga_upgr_4122`.`cscart_seo_names`.`type` = 'p') and (`eshopuga_upgr_4122`.`cscart_seo_names`.`dispatch` = '') and (`eshopuga_upgr_4122`.`cscart_seo_names`.`lang_code` = 'en') and ((`eshopuga_upgr_4122`.`cscart_seo_names`.`company_id` = 1) or (`eshopuga_upgr_4122`.`cscart_seo_names`.`company_id` = 0)))",
      "cost_info": {
        "read_cost": "105.61",
        "eval_cost": "9.60",
        "prefix_cost": "115.21",
        "data_read_per_join": "81K"
      },
      "used_columns": [
        "name",
        "object_id",
        "company_id",
        "type",
        "dispatch",
        "path",
        "lang_code"
      ]
    }
  }
}

Result

product_id seo_name seo_path
324 passionate-wishes 328/336/338
385 red-rose-romance 328/336/337
390 full-of-wishes 328/336/337
398 make-her-day 328/336/337
403 one-and-only 329/359
405 anything-for-u 328/336/337
406 how-sweet-it-is 328/336/337
419 new-sensations 328/336/337
421 12-roses 328/336/337
428 graceful 328/336/337
431 peach-roses 328/336/337
435 mumbai-basket 328/335/349
440 pastel-roses 329/359
1465 dressed-to-impress-2 329/361
1529 1-create-you-bouquet 328/335/349
1929 basket-of-love 329/363
1930 basket-of-pink-roses 329/361
1931 celia-mixed-basket 329/361
1932 elegant-mix-roses 329/362
1933 frank-red-basket 329/361
1935 godfrey-elegant-basket 329/361
1958 always-and-gorgeous-roses 329/361
1962 eshop-red-roses 329/361
1963 jarra-de-rosas-rosa-fuchsia-a 329/361