SELECT 
  SQL_CALC_FOUND_ROWS products.product_id, 
  descr1.product as product, 
  companies.company as company_name, 
  products.product_type, 
  products.parent_product_id 
FROM 
  cscart_products as products 
  LEFT JOIN cscart_product_descriptions as descr1 ON descr1.product_id = products.product_id 
  AND descr1.lang_code = 'en' 
  LEFT JOIN cscart_product_prices as prices ON prices.product_id = products.product_id 
  AND prices.lower_limit = 1 
  LEFT JOIN cscart_companies AS companies ON companies.company_id = products.company_id 
  INNER JOIN cscart_products_categories as products_categories ON products_categories.product_id = products.product_id 
  INNER JOIN cscart_categories ON cscart_categories.category_id = products_categories.category_id 
  AND (
    cscart_categories.usergroup_ids = '' 
    OR FIND_IN_SET(
      0, cscart_categories.usergroup_ids
    ) 
    OR FIND_IN_SET(
      1, cscart_categories.usergroup_ids
    )
  ) 
  AND cscart_categories.status IN ('A', 'H') 
  AND cscart_categories.storefront_id IN (0, 1) 
WHERE 
  1 
  AND cscart_categories.category_id IN (
    166, 174, 175, 176, 177, 178, 179, 180, 
    181, 182, 199, 185, 186, 187, 188, 189, 
    190, 191, 194, 193, 195, 196, 197, 198, 
    200, 202, 234, 235, 236, 237, 238, 240, 
    254, 255, 263
  ) 
  AND companies.status IN ('A') 
  AND (
    products.usergroup_ids = '' 
    OR FIND_IN_SET(0, products.usergroup_ids) 
    OR FIND_IN_SET(1, products.usergroup_ids)
  ) 
  AND products.status IN ('A') 
  AND prices.usergroup_id IN (0, 0, 1) 
  AND products.parent_product_id = 0 
  AND products.product_type != 'D' 
GROUP BY 
  products.product_id 
ORDER BY 
  product asc, 
  products.product_id ASC 
LIMIT 
  0, 96

Query time 0.00293

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "32.07"
    },
    "ordering_operation": {
      "using_filesort": true,
      "grouping_operation": {
        "using_temporary_table": true,
        "using_filesort": false,
        "nested_loop": [
          {
            "table": {
              "table_name": "companies",
              "access_type": "ALL",
              "possible_keys": [
                "PRIMARY"
              ],
              "rows_examined_per_scan": 3,
              "rows_produced_per_join": 1,
              "filtered": "33.33",
              "cost_info": {
                "read_cost": "2.51",
                "eval_cost": "0.20",
                "prefix_cost": "2.71",
                "data_read_per_join": "7K"
              },
              "used_columns": [
                "company_id",
                "status",
                "company"
              ],
              "attached_condition": "(`danishecarter_25_march`.`companies`.`status` = 'A')"
            }
          },
          {
            "table": {
              "table_name": "cscart_categories",
              "access_type": "ALL",
              "possible_keys": [
                "PRIMARY",
                "c_status",
                "p_category_id"
              ],
              "rows_examined_per_scan": 98,
              "rows_produced_per_join": 1,
              "filtered": "1.43",
              "using_join_buffer": "Block Nested Loop",
              "cost_info": {
                "read_cost": "23.05",
                "eval_cost": "0.28",
                "prefix_cost": "26.04",
                "data_read_per_join": "4K"
              },
              "used_columns": [
                "category_id",
                "storefront_id",
                "usergroup_ids",
                "status"
              ],
              "attached_condition": "((`danishecarter_25_march`.`cscart_categories`.`category_id` in (166,174,175,176,177,178,179,180,181,182,199,185,186,187,188,189,190,191,194,193,195,196,197,198,200,202,234,235,236,237,238,240,254,255,263)) and ((`danishecarter_25_march`.`cscart_categories`.`usergroup_ids` = '') or find_in_set(0,`danishecarter_25_march`.`cscart_categories`.`usergroup_ids`) or find_in_set(1,`danishecarter_25_march`.`cscart_categories`.`usergroup_ids`)) and (`danishecarter_25_march`.`cscart_categories`.`status` in ('A','H')) and (`danishecarter_25_march`.`cscart_categories`.`storefront_id` in (0,1)))"
            }
          },
          {
            "table": {
              "table_name": "products_categories",
              "access_type": "ref",
              "possible_keys": [
                "PRIMARY",
                "pt"
              ],
              "key": "PRIMARY",
              "used_key_parts": [
                "category_id"
              ],
              "key_length": "3",
              "ref": [
                "danishecarter_25_march.cscart_categories.category_id"
              ],
              "rows_examined_per_scan": 2,
              "rows_produced_per_join": 2,
              "filtered": "100.00",
              "using_index": true,
              "cost_info": {
                "read_cost": "1.46",
                "eval_cost": "0.56",
                "prefix_cost": "28.06",
                "data_read_per_join": "44"
              },
              "used_columns": [
                "product_id",
                "category_id"
              ]
            }
          },
          {
            "table": {
              "table_name": "products",
              "access_type": "eq_ref",
              "possible_keys": [
                "PRIMARY",
                "status",
                "idx_parent_product_id"
              ],
              "key": "PRIMARY",
              "used_key_parts": [
                "product_id"
              ],
              "key_length": "3",
              "ref": [
                "danishecarter_25_march.products_categories.product_id"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 0,
              "filtered": "8.69",
              "cost_info": {
                "read_cost": "2.80",
                "eval_cost": "0.05",
                "prefix_cost": "31.42",
                "data_read_per_join": "1K"
              },
              "used_columns": [
                "product_id",
                "product_type",
                "status",
                "company_id",
                "usergroup_ids",
                "parent_product_id"
              ],
              "attached_condition": "((`danishecarter_25_march`.`products`.`company_id` = `danishecarter_25_march`.`companies`.`company_id`) and (`danishecarter_25_march`.`products`.`parent_product_id` = 0) and ((`danishecarter_25_march`.`products`.`usergroup_ids` = '') or find_in_set(0,`danishecarter_25_march`.`products`.`usergroup_ids`) or find_in_set(1,`danishecarter_25_march`.`products`.`usergroup_ids`)) and (`danishecarter_25_march`.`products`.`status` = 'A') and (`danishecarter_25_march`.`products`.`product_type` <> 'D'))"
            }
          },
          {
            "table": {
              "table_name": "descr1",
              "access_type": "eq_ref",
              "possible_keys": [
                "PRIMARY",
                "product_id"
              ],
              "key": "PRIMARY",
              "used_key_parts": [
                "product_id",
                "lang_code"
              ],
              "key_length": "9",
              "ref": [
                "danishecarter_25_march.products_categories.product_id",
                "const"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 0,
              "filtered": "100.00",
              "cost_info": {
                "read_cost": "0.24",
                "eval_cost": "0.05",
                "prefix_cost": "31.72",
                "data_read_per_join": "1K"
              },
              "used_columns": [
                "product_id",
                "lang_code",
                "product"
              ]
            }
          },
          {
            "table": {
              "table_name": "prices",
              "access_type": "ref",
              "possible_keys": [
                "usergroup",
                "product_id",
                "lower_limit",
                "usergroup_id"
              ],
              "key": "usergroup",
              "used_key_parts": [
                "product_id"
              ],
              "key_length": "3",
              "ref": [
                "danishecarter_25_march.products_categories.product_id"
              ],
              "rows_examined_per_scan": 2,
              "rows_produced_per_join": 0,
              "filtered": "96.58",
              "using_index": true,
              "cost_info": {
                "read_cost": "0.26",
                "eval_cost": "0.09",
                "prefix_cost": "32.07",
                "data_read_per_join": "11"
              },
              "used_columns": [
                "product_id",
                "lower_limit",
                "usergroup_id"
              ],
              "attached_condition": "((`danishecarter_25_march`.`prices`.`lower_limit` = 1) and (`danishecarter_25_march`.`prices`.`usergroup_id` in (0,0,1)))"
            }
          }
        ]
      }
    }
  }
}

Result

product_id product company_name product_type parent_product_id
148 16GB A Series Walkman Video MP3 CS-Cart P 0
180 18-55mm Portrait Lens CS-Cart P 0
18 3D Blu-ray Disc™ Player (BD-D7000) CS-Cart P 0
16 3D Blu-ray Disc™ Player (BD-D7500) CS-Cart P 0
4 40" Class (40.0" Diag.) LED 5003 Series TV CS-Cart P 0
5 46" Class (45.9" Diag.) LCD 610 Series TV CS-Cart P 0
23 5.1 Channel Blu-ray 3D Home Theater System CS-Cart P 0
24 5.1 Channel Blu-ray 3D Home Theater System CS-Cart P 0
1 65" Class (64.5" Diag.) LED 8000 Series Smart TV CS-Cart P 0
22 7.1 Channel Blu-ray 3D Home Theater System CS-Cart P 0
149 8GB E Series Walkman Video MP3 CS-Cart P 0
190 AF-S DX NIKKOR 10-24mm f/3.5-4.5G ED CS-Cart P 0
189 AF-S NIKKOR 14-24mm f/2.8G ED CS-Cart P 0
245 Apple - iPhone 5c 32GB Cell Phone - Green CS-Cart P 0
238 Apple iPhone 4S Black CS-Cart P 0
239 Apple iPhone 4S White CS-Cart P 0
242 Apple iPod Classic Black CS-Cart P 0
243 Apple iPod Classic White CS-Cart P 0
59 AVH-P4400BH CS-Cart P 0
58 AVH-P8400BH CS-Cart P 0
60 AVIC-Z130BT CS-Cart P 0
172 Compact Full HD Camcorder CS-Cart P 0
134 Creative ZEN Style M300 MP3 Player 16GB (Black) CS-Cart P 0
135 Creative ZEN Touch 2 MP3 Player 8GB (Black) CS-Cart P 0
168 D300S (Body Only) CS-Cart P 0
167 D3100 + 18-55 VR Lens Kit CS-Cart P 0
169 D5100 + AF-S DX NIKKOR 18-55mm f/3.5-5.6G VR Lens Kit CS-Cart P 0
42 DEH-1300MP CS-Cart P 0
39 DEH-80PRS CS-Cart P 0
40 DEH-P8400BH CS-Cart P 0
37 DPX308U CS-Cart P 0
74 Droid 3 CS-Cart P 0
73 DROID BIONIC CS-Cart P 0
71 DROID INCREDIBLE 2 CS-Cart P 0
75 DROID PRO CS-Cart P 0
72 DROID RAZR CS-Cart P 0
70 EVO Design 4G CS-Cart P 0
156 Extra Bass Headphones – 70mm CS-Cart P 0
175 F50 Flash Memory 52x Zoom Camcorder (Silver) CS-Cart P 0
43 FH-P8000BT CS-Cart P 0
76 FLIPSIDE with MOTOBLUR CS-Cart P 0
56 GM-6500F CS-Cart P 0
57 GM-D8500M CS-Cart P 0
30 GO 2535 TM WTE CS-Cart P 0
246 GoPro - Hero3+ Black Edition Camera CS-Cart P 0
173 H300 Long Zoom Compact Full HD Camcorder (Black) CS-Cart P 0
67 HTC Wildfire S - White (T-Mobile) CS-Cart P 0
25 HW-D7000 AV Receiver with built-in Blu-ray Disc® Player CS-Cart P 0
154 JR900 Wireless Headphones CS-Cart P 0
53 KFC-W3012 CS-Cart P 0
52 KFC-W3013PS CS-Cart P 0
161 MV800 16.1 Megapixel MultiView Compact Digital Camera CS-Cart P 0
165 Nikon 1 J1 One-Lens Kit White CS-Cart P 0
166 Nikon 1 J1 Two-Lens Wide Angle Kit Red CS-Cart P 0
86 Nokia 700 CS-Cart P 0
106 Nokia E5-00 CS-Cart P 0
105 Nokia Lumia 800 CS-Cart P 0
101 Nokia X3-02 CS-Cart P 0
33 nüvi® 2455LT CS-Cart P 0
32 nüvi® 3450 CS-Cart P 0
163 NX200 20.3 Megapixel Compact System Camera CS-Cart P 0
155 Porta Pro KTC On-Ear Headphone CS-Cart P 0
55 PRS-D800 CS-Cart P 0
69 Rhyme CS-Cart P 0
184 Samsung 30mm NX Pancake Lens CS-Cart P 0
183 Samsung 50-200mm NX Telephoto OIS Lens CS-Cart P 0
133 Samsung Galaxy Player 4.0 CS-Cart P 0
132 Samsung Galaxy Player 5.0 CS-Cart P 0
125 Samsung Galaxy S II CS-Cart P 0
120 Samsung Galaxy S II, Epic 4G Touch (Black) CS-Cart P 0
146 Sansa Clip+ MP3 Player (Blue) - 4GB CS-Cart P 0
147 Sansa Clip+ MP3 Player (Red) - 4GB CS-Cart P 0
145 Sansa Fuze+ MP3 Player (Red) - 4GB ACME Corp P 0
117 SCH-I515 CS-Cart P 0
113 SGH-I677 CS-Cart P 0
157 Studio Monitor Headphones CS-Cart P 0
68 Titan CS-Cart P 0
29 TomTom GO LIVE Top Gear edition CS-Cart P 0
6 Toshiba 32C120U 32" Class 720P HD LCD TV CS-Cart P 0
8 Toshiba 32TL515U 32" Class 1080P 3D LED HD TV CS-Cart P 0
14 Toshiba 40E220U 40" Class 1080P HD LCD TV CS-Cart P 0
9 Toshiba 42TL515U 42" Class 1080P 3D LED HD TV CS-Cart P 0
10 Toshiba 47TL515U 47" Class 1080P 3D LED HD TV CS-Cart P 0
19 Toshiba BDX2150 Blu-ray Player CS-Cart P 0
21 Toshiba SD3300 DVD Player CS-Cart P 0
50 TS-D1720C CS-Cart P 0
51 TS-D6902R CS-Cart P 0
49 TS-MR1640 CS-Cart P 0
48 TS-MR2040 CS-Cart P 0
54 TS-W3002D2|D4 CS-Cart P 0
153 UR55 Full Size Headphones CS-Cart P 0
164 WB210 10MB 14 Megapixel Slim Digital Camera (Red) CS-Cart P 0
248 X-Box One CS-Cart P 0
65 XRS 9370 CS-Cart P 0
64 XRS 9745 CS-Cart P 0
63 XRS 9770 CS-Cart P 0