SELECT 
  s.*, 
  cscart_common_descriptions.object as section 
FROM 
  cscart_sitemap_sections AS s 
  LEFT JOIN cscart_common_descriptions ON s.section_id = cscart_common_descriptions.object_id 
  AND cscart_common_descriptions.object_holder = "sitemap_sections" 
  AND cscart_common_descriptions.lang_code = 'en' 
WHERE 
  status = 'A' 
  AND s.company_id = 2 
ORDER BY 
  s.position

Query time 0.00027

JSON explain

{
  "query_block": {
    "select_id": 1,
    "read_sorted_file": {
      "filesort": {
        "sort_key": "s.position",
        "table": {
          "table_name": "s",
          "access_type": "ALL",
          "rows": 2,
          "filtered": 100,
          "attached_condition": "s.company_id = 2 and s.`status` = 'A'"
        }
      }
    },
    "table": {
      "table_name": "cscart_common_descriptions",
      "access_type": "eq_ref",
      "possible_keys": ["PRIMARY"],
      "key": "PRIMARY",
      "key_length": "108",
      "used_key_parts": ["object_id", "lang_code", "object_holder"],
      "ref": ["cscart_purchase_fl_com.s.section_id", "const", "const"],
      "rows": 1,
      "filtered": 100,
      "attached_condition": "trigcond(s.section_id = cscart_common_descriptions.object_id and cscart_common_descriptions.object_holder = 'sitemap_sections' and cscart_common_descriptions.lang_code = 'en')"
    }
  }
}