SELECT 
  filter_id, 
  feature_id 
FROM 
  cscart_product_filters 
  INNER JOIN cscart_ult_objects_sharing ON (
    cscart_ult_objects_sharing.share_object_id = cscart_product_filters.filter_id 
    AND cscart_ult_objects_sharing.share_company_id = 3 
    AND cscart_ult_objects_sharing.share_object_type = 'product_filters'
  ) 
WHERE 
  status = 'A'

Query time 0.00499

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_product_filters ALL PRIMARY,filter_id_idx 51 Using where
1 SIMPLE cscart_ult_objects_sharing eq_ref PRIMARY PRIMARY 159 mahm3t_cs443.cscart_product_filters.filter_id,const,const 1 Using where; Using index

Result

filter_id feature_id
16 42
75 176
13 30
11 22
12 21
10 23
36 135
14 24
45 20
48 147
49 148
25 51
37 136
27 53
26 54
33 130
31 133
32 132
42 141
39 137
40 138
43 49
53 46
54 122
50 151
69 169
70 170
71 171
72 175
73 173
74 174
76 177