For an import script I needed to get WooCommerce product categories so I ended up looking the generated query in /var/log/mysql/query.log for get_the_terms($postID, ‘taxonomy_name’)
I ended up using the following SQL query to get product categories:
SELECT t.*, tt.* FROM wp_terms AS t INNER JOIN wp_term_taxonomy AS tt ON tt.term_id = t.term_id INNER JOIN wp_term_relationships AS tr ON tr.term_taxonomy_id = tt.term_taxonomy_id WHERE tt.taxonomy IN ('product_cat') AND tr.object_id IN (11448)