SELECT 
  prof.object_id AS user_id, 
  78 AS profile_filed, 
  GROUP_CONCAT(prof.value) AS category_id, 
  GROUP_CONCAT(pfd.description) AS category 
FROM 
  cscart_profile_fields_data AS prof 
  LEFT JOIN cscart_profile_field_descriptions AS pfd ON pfd.object_id = prof.value 
  AND pfd.object_type = 'V' 
WHERE 
  1 = 1 
  AND prof.object_id IN (223511, 13475, 373783, 203705) 
  AND field_id IN (78) 
GROUP BY 
  user_id

Query time 0.00083

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "9.86"
    },
    "grouping_operation": {
      "using_filesort": false,
      "nested_loop": [
        {
          "table": {
            "table_name": "prof",
            "access_type": "range",
            "possible_keys": [
              "idx_entire_row",
              "idx_field_object",
              "idx_obj_objtyp"
            ],
            "key": "idx_field_object",
            "used_key_parts": [
              "field_id",
              "object_id"
            ],
            "key_length": "6",
            "rows_examined_per_scan": 14,
            "rows_produced_per_join": 14,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "3.56",
              "eval_cost": "1.40",
              "prefix_cost": "4.96",
              "data_read_per_join": "10K"
            },
            "used_columns": [
              "object_id",
              "object_type",
              "field_id",
              "value"
            ],
            "attached_condition": "((`cscart_db`.`prof`.`field_id` = 78) and (`cscart_db`.`prof`.`object_id` in (223511,13475,373783,203705)))"
          }
        },
        {
          "table": {
            "table_name": "pfd",
            "access_type": "ref",
            "possible_keys": [
              "PRIMARY"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "object_id",
              "object_type"
            ],
            "key_length": "6",
            "ref": [
              "cscart_db.prof.value",
              "const"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 14,
            "filtered": "100.00",
            "index_condition": "<if>(is_not_null_compl(pfd), (cast(`cscart_db`.`pfd`.`object_id` as double) = cast(`cscart_db`.`prof`.`value` as double)), true)",
            "cost_info": {
              "read_cost": "3.50",
              "eval_cost": "1.40",
              "prefix_cost": "9.86",
              "data_read_per_join": "10K"
            },
            "used_columns": [
              "object_id",
              "description",
              "object_type"
            ]
          }
        }
      ]
    }
  }
}