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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 companies.status IN ('A') 
  AND products.company_id = 1 
  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.company_id = 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 
  192, 96

Query time 0.00391

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "40.13"
    },
    "ordering_operation": {
      "using_filesort": true,
      "grouping_operation": {
        "using_temporary_table": true,
        "using_filesort": false,
        "nested_loop": [
          {
            "table": {
              "table_name": "companies",
              "access_type": "const",
              "possible_keys": [
                "PRIMARY"
              ],
              "key": "PRIMARY",
              "used_key_parts": [
                "company_id"
              ],
              "key_length": "4",
              "ref": [
                "const"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 1,
              "filtered": "100.00",
              "cost_info": {
                "read_cost": "0.00",
                "eval_cost": "0.20",
                "prefix_cost": "0.00",
                "data_read_per_join": "7K"
              },
              "used_columns": [
                "company_id",
                "status",
                "company"
              ]
            }
          },
          {
            "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": 3,
              "filtered": "4.00",
              "cost_info": {
                "read_cost": "22.48",
                "eval_cost": "0.78",
                "prefix_cost": "23.26",
                "data_read_per_join": "13K"
              },
              "used_columns": [
                "category_id",
                "storefront_id",
                "usergroup_ids",
                "status"
              ],
              "attached_condition": "(((`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": 7,
              "filtered": "100.00",
              "using_index": true,
              "cost_info": {
                "read_cost": "4.09",
                "eval_cost": "1.57",
                "prefix_cost": "28.92",
                "data_read_per_join": "125"
              },
              "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": "7.84",
                "eval_cost": "0.14",
                "prefix_cost": "38.33",
                "data_read_per_join": "3K"
              },
              "used_columns": [
                "product_id",
                "product_type",
                "status",
                "company_id",
                "usergroup_ids",
                "parent_product_id"
              ],
              "attached_condition": "((`danishecarter_25_march`.`products`.`parent_product_id` = 0) and (`danishecarter_25_march`.`products`.`company_id` = 1) 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": "0.68",
                "eval_cost": "0.14",
                "prefix_cost": "39.15",
                "data_read_per_join": "3K"
              },
              "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": 1,
              "filtered": "96.58",
              "using_index": true,
              "cost_info": {
                "read_cost": "0.71",
                "eval_cost": "0.26",
                "prefix_cost": "40.13",
                "data_read_per_join": "31"
              },
              "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
280	T-shirt, Color: Black	CS-Cart	P
282	T-shirt, Color: Blue	CS-Cart	P
278	T-shirt, Color: White	CS-Cart	P
20	The ABCs of Gold Investing. How to Protect and Build Your Wealth with Gold	CS-Cart	P
119	The Big Bang Theory: The Complete Fourth Season	CS-Cart	P
100	The Hangover Part II (Blu-ray)	CS-Cart	P
46	The Official SAT Study Guide: Second Edition(TM)	CS-Cart	P
204	The Police - The Stewart Copeland Anthology	CS-Cart	P
45	The Process of Research in Psychology	CS-Cart	P
68	Titan	CS-Cart	P
29	TomTom GO LIVE Top Gear edition	CS-Cart	P
6	Toshiba 32C120U 32" Class 720P HD LCD TV	CS-Cart	P
8	Toshiba 32TL515U 32" Class 1080P 3D LED HD TV	CS-Cart	P
14	Toshiba 40E220U 40" Class 1080P HD LCD TV	CS-Cart	P
9	Toshiba 42TL515U 42" Class 1080P 3D LED HD TV	CS-Cart	P
10	Toshiba 47TL515U 47" Class 1080P 3D LED HD TV	CS-Cart	P
19	Toshiba BDX2150 Blu-ray Player	CS-Cart	P
21	Toshiba SD3300 DVD Player	CS-Cart	P
7	Trefoil Hoodie	CS-Cart	P
27	Trefoil Logo Hoodie	CS-Cart	P
124	Truth SST.2 X9 Complete Bike 10SPD '12	CS-Cart	P
50	TS-D1720C	CS-Cart	P
51	TS-D6902R	CS-Cart	P
49	TS-MR1640	CS-Cart	P
48	TS-MR2040	CS-Cart	P
54	TS-W3002D2\|D4	CS-Cart	P
44	U.S. History and Government, Second Edition	CS-Cart	P
194	U218 Singles (U2TCD020)	CS-Cart	P
137	Ultimate Marvel VS. Capcom® 3	CS-Cart	P
153	UR55 Full Size Headphones	CS-Cart	P
164	WB210 10MB 14 Megapixel Slim Digital Camera (Red)	CS-Cart	P
236	WeatherMaster Screened 6 Tent With Hinged Door	CS-Cart	P
234	White Water™ Cool Weather Sleeping Bag	CS-Cart	P
150	Wildwood city classic	CS-Cart	P
151	Wildwood classic	CS-Cart	P
178	Wilson Jones® 364 Heavy Duty Round Ring Binder with Label Holder, 1", Black	CS-Cart	P
181	Women's Bloom Complete Set	CS-Cart	P
248	X-Box One	CS-Cart	P
65	XRS 9370	CS-Cart	P
64	XRS 9745	CS-Cart	P
63	XRS 9770	CS-Cart	P
62	XRS 9945	CS-Cart	P
66	XRS 9970G	CS-Cart	P
140	Yamaha PDX-11 DB	CS-Cart	P
141	Yamaha PDX-11 GR	CS-Cart	P
144	Yamaha PDX-30BU	CS-Cart	P
143	Yamaha PDX-30PI	CS-Cart	P
142	Yamaha TSX-130WH	CS-Cart	P
13	Your Idea, Inc. 12 Steps to Building a Million Dollar Business -- Starting Today!	CS-Cart	P