SELECT 
  category_id 
FROM 
  cscart_categories 
WHERE 
  category_id = 5 
  AND (
    usergroup_ids = '' 
    OR FIND_IN_SET(0, usergroup_ids) 
    OR FIND_IN_SET(1, usergroup_ids)
  ) 
  AND status IN ('A', 'H') 
  AND cscart_categories.company_id = 1

Query time 0.00018

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "cscart_categories",
      "access_type": "const",
      "possible_keys": [
        "PRIMARY",
        "c_status",
        "p_category_id"
      ],
      "key": "PRIMARY",
      "used_key_parts": [
        "category_id"
      ],
      "key_length": "3",
      "ref": [
        "const"
      ],
      "rows": 1,
      "filtered": 100
    }
  }
}