MySQL 5.7

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CREATE TABLE store (
  `id` INTEGER,
  `category_id` INTEGER
);

INSERT INTO store
  (`id`, `category_id`)
VALUES
  ('1', '1'),
  ('1', '2'),
  ('1', '3');
CREATE TABLE categories (
  `id` INTEGER,
  `name` VARCHAR(5),
  `parent_id` INTEGER
);

INSERT INTO categories
  (`id`, `name`, `parent_id`)
VALUES
  ('1', 'test1', '0'),
  ('2', 'test2', '1'),
  ('3', 'test3', '0'),
  ('4', 'test4', '1');
SELECT c1.name, c2.name FROM (categories c1
LEFT JOIN categories c2 ON c2.parent_id = c1.id)
wHERE c1.parent_id = 0
AND (c2.id IN (SELECT `category_id` FROM store WHERE id = 1) OR c2.id iS NuLL)


name
name


test1
test2

test3
null