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SELECT 
  pf.feature_id, 
  pf.company_id, 
  pf.feature_type, 
  pf.parent_id, 
  pf.display_on_product, 
  pf.display_on_catalog, 
  pf.display_on_header, 
  cscart_product_features_descriptions.description, 
  cscart_product_features_descriptions.lang_code, 
  cscart_product_features_descriptions.prefix, 
  cscart_product_features_descriptions.suffix, 
  pf.categories_path, 
  cscart_product_features_descriptions.full_description, 
  pf.status, 
  pf.comparison, 
  pf.position, 
  groups.position AS group_position, 
  cscart_product_features_values.value, 
  cscart_product_features_values.variant_id, 
  cscart_product_features_values.value_int 
FROM 
  cscart_product_features AS pf 
  LEFT JOIN cscart_product_features AS groups ON pf.parent_id = groups.feature_id 
  LEFT JOIN cscart_product_features_descriptions ON cscart_product_features_descriptions.feature_id = pf.feature_id 
  AND cscart_product_features_descriptions.lang_code = 'fr' 
  INNER JOIN cscart_product_features_values ON cscart_product_features_values.feature_id = pf.feature_id 
  AND cscart_product_features_values.product_id = 10141 
  AND cscart_product_features_values.lang_code = 'fr' 
  INNER JOIN cscart_ult_objects_sharing ON (
    cscart_ult_objects_sharing.share_object_id = pf.feature_id 
    AND cscart_ult_objects_sharing.share_company_id = 3 
    AND cscart_ult_objects_sharing.share_object_type = 'product_features'
  ) 
WHERE 
  1 
  AND pf.feature_type != 'G' 
  AND pf.status IN ('A') 
  AND pf.display_on_product = 'Y' 
  AND (
    pf.categories_path = '' 
    OR ISNULL(pf.categories_path) 
    OR FIND_IN_SET(790, pf.categories_path) 
    OR FIND_IN_SET(935, pf.categories_path)
  ) 
GROUP BY 
  pf.feature_id 
ORDER BY 
  group_position, 
  pf.position, 
  cscart_product_features_descriptions.description

Query time 0.00141

Explain
id	select_type	table	type	possible_keys	key	key_len	ref	rows	Extra
1	SIMPLE	cscart_product_features_values	ref	PRIMARY,fl,lang_code,product_id,fpl,product_id_idx,feature_id_idx,feature_value_product_idx,product_feature_idx	product_feature_idx	3	const	66	Using where; Using temporary; Using filesort
1	SIMPLE	pf	eq_ref	PRIMARY,status	PRIMARY	3	mahm3t_cs443.cscart_product_features_values.feature_id	1	Using where
1	SIMPLE	groups	eq_ref	PRIMARY	PRIMARY	3	mahm3t_cs443.pf.parent_id	1
1	SIMPLE	cscart_product_features_descriptions	eq_ref	PRIMARY	PRIMARY	9	mahm3t_cs443.cscart_product_features_values.feature_id,const	1	Using where
1	SIMPLE	cscart_ult_objects_sharing	eq_ref	PRIMARY	PRIMARY	159	mahm3t_cs443.cscart_product_features_values.feature_id,const,const	1	Using where; Using index

Result

feature_id	company_id	feature_type	parent_id	display_on_product	display_on_catalog	display_on_header	description	lang_code	suffix	categories_path	status	comparison	position	variant_id	value_int
22	1	M	18	Y	Y	Y	Matériau	fr		354,355,356,362,368,438,449,452,555,556,770,771,783,787,789,790,261,357,359,360,365,367,369,459,461,468,472,475,484,485,486,487,797,799,805,808,813,814,817,820,831,842,843,844,848,849,850,890,891,437	A	N	5	98
23	1	M	18	Y	Y	Y	Ouverture	fr		354,355,356,362,368,438,449,452,555,556,770,771,783,787,789,790,261,357,359,360,365,367,369,459,461,468,472,475,484,485,486,487,797,799,805,808,813,814,817,820,831,842,843,844,848,849,850,890,891,437	A	N	10	6297
21	1	S	18	Y	Y	Y	Vitrage	fr		354,355,356,362,368,438,449,452,555,556,770,771,783,787,789,790,261,357,359,360,365,367,369,459,461,468,472,475,484,485,486,487,797,799,805,808,813,814,817,820,831,842,843,844,848,849,850,890,891,437	A	N	20	96
20	1	N	18	Y	Y	Y	Coefficient de la transmission de la chaleur de la fenêtre	fr	W/m²K	354,355,356,362,368,438,449,452,555,556,770,771,783,787,789,790,261,357,359,360,365,367,369,459,461,468,472,475,484,485,486,487,797,799,805,808,813,814,817,820,831,842,843,844,848,849,850,890,891,437	A	N	30	6059	1.000
19	1	N	18	Y	Y	Y	Coefficient de la transmission de la chaleur du vitrage	fr	W/m²K	354,355,356,362,368,438,449,452,555,556,770,771,783,787,789,790,261,357,359,360,365,367,369,459,461,468,472,475,484,485,486,487,797,799,805,808,813,814,817,820,831,842,843,844,848,849,850,890,891,437	A	N	50	5989	0.600
24	1	S	18	Y	Y	N	Contrôle	fr		354,355,356,362,368,438,449,452,555,556,770,771,783,787,789,790,261,357,359,360,365,367,369,459,461,468,472,475,484,485,486,487,797,799,805,808,813,814,817,820,831,842,843,844,848,849,850,890,891,437	A	N	100	107