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SELECT 
  SQL_CALC_FOUND_ROWS (
    CASE WHEN products.parent_product_id <> 0 THEN products.parent_product_id ELSE products.product_id END
  ) AS product_id, 
  descr1.product as product, 
  companies.company as company_name, 
  GROUP_CONCAT(
    products.product_id 
    ORDER BY 
      products.parent_product_id ASC, 
      products.product_id ASC
  ) AS product_ids, 
  GROUP_CONCAT(
    products.product_type 
    ORDER BY 
      products.parent_product_id ASC, 
      products.product_id ASC
  ) AS product_types, 
  GROUP_CONCAT(
    products.parent_product_id 
    ORDER BY 
      products.parent_product_id ASC, 
      products.product_id ASC
  ) AS parent_product_ids, 
  products.product_type, 
  products.parent_product_id, 
  products.master_product_offers_count, 
  products.master_product_id, 
  products.company_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 (219, 220, 221, 222) 
  AND (
    companies.status IN ('A') 
    OR products.company_id = 0
  ) 
  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.master_product_status IN ('A') 
  AND products.product_type != 'D' 
GROUP BY 
  product_id 
ORDER BY 
  product asc, 
  products.product_id ASC 
LIMIT 
  0, 12

Query time 0.00189

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "10.49"
    },
    "ordering_operation": {
      "using_filesort": true,
      "grouping_operation": {
        "using_temporary_table": true,
        "using_filesort": true,
        "buffer_result": {
          "using_temporary_table": true,
          "nested_loop": [
            {
              "table": {
                "table_name": "cscart_categories",
                "access_type": "range",
                "possible_keys": [
                  "PRIMARY",
                  "c_status",
                  "p_category_id"
                ],
                "key": "PRIMARY",
                "used_key_parts": [
                  "category_id"
                ],
                "key_length": "3",
                "rows_examined_per_scan": 4,
                "rows_produced_per_join": 0,
                "filtered": "4.00",
                "index_condition": "(`danishecarter_31jan`.`cscart_categories`.`category_id` in (219,220,221,222))",
                "cost_info": {
                  "read_cost": "9.58",
                  "eval_cost": "0.03",
                  "prefix_cost": "9.61",
                  "data_read_per_join": "550"
                },
                "used_columns": [
                  "category_id",
                  "storefront_id",
                  "usergroup_ids",
                  "status"
                ],
                "attached_condition": "(((`danishecarter_31jan`.`cscart_categories`.`usergroup_ids` = '') or find_in_set(0,`danishecarter_31jan`.`cscart_categories`.`usergroup_ids`) or find_in_set(1,`danishecarter_31jan`.`cscart_categories`.`usergroup_ids`)) and (`danishecarter_31jan`.`cscart_categories`.`status` in ('A','H')) and (`danishecarter_31jan`.`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_31jan.cscart_categories.category_id"
                ],
                "rows_examined_per_scan": 3,
                "rows_produced_per_join": 0,
                "filtered": "100.00",
                "using_index": true,
                "cost_info": {
                  "read_cost": "0.17",
                  "eval_cost": "0.10",
                  "prefix_cost": "9.87",
                  "data_read_per_join": "7"
                },
                "used_columns": [
                  "product_id",
                  "category_id"
                ]
              }
            },
            {
              "table": {
                "table_name": "products",
                "access_type": "eq_ref",
                "possible_keys": [
                  "PRIMARY",
                  "status"
                ],
                "key": "PRIMARY",
                "used_key_parts": [
                  "product_id"
                ],
                "key_length": "3",
                "ref": [
                  "danishecarter_31jan.products_categories.product_id"
                ],
                "rows_examined_per_scan": 1,
                "rows_produced_per_join": 0,
                "filtered": "5.00",
                "cost_info": {
                  "read_cost": "0.48",
                  "eval_cost": "0.00",
                  "prefix_cost": "10.45",
                  "data_read_per_join": "113"
                },
                "used_columns": [
                  "product_id",
                  "product_type",
                  "status",
                  "company_id",
                  "usergroup_ids",
                  "parent_product_id",
                  "master_product_id",
                  "master_product_status",
                  "master_product_offers_count"
                ],
                "attached_condition": "((`danishecarter_31jan`.`products`.`company_id` = 1) and ((`danishecarter_31jan`.`products`.`usergroup_ids` = '') or find_in_set(0,`danishecarter_31jan`.`products`.`usergroup_ids`) or find_in_set(1,`danishecarter_31jan`.`products`.`usergroup_ids`)) and (`danishecarter_31jan`.`products`.`status` = 'A') and (`danishecarter_31jan`.`products`.`master_product_status` = 'A') and (`danishecarter_31jan`.`products`.`product_type` <> 'D'))"
              }
            },
            {
              "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": 0,
                "filtered": "50.00",
                "cost_info": {
                  "read_cost": "0.01",
                  "eval_cost": "0.00",
                  "prefix_cost": "10.46",
                  "data_read_per_join": "94"
                },
                "used_columns": [
                  "company_id",
                  "status",
                  "company"
                ],
                "attached_condition": "<if>(found_match(companies), (`danishecarter_31jan`.`companies`.`status` = 'A'), true)"
              }
            },
            {
              "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_31jan.products_categories.product_id",
                  "const"
                ],
                "rows_examined_per_scan": 1,
                "rows_produced_per_join": 0,
                "filtered": "100.00",
                "cost_info": {
                  "read_cost": "0.01",
                  "eval_cost": "0.00",
                  "prefix_cost": "10.48",
                  "data_read_per_join": "56"
                },
                "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_31jan.products_categories.product_id"
                ],
                "rows_examined_per_scan": 2,
                "rows_produced_per_join": 0,
                "filtered": "97.97",
                "using_index": true,
                "cost_info": {
                  "read_cost": "0.01",
                  "eval_cost": "0.00",
                  "prefix_cost": "10.50",
                  "data_read_per_join": "0"
                },
                "used_columns": [
                  "product_id",
                  "lower_limit",
                  "usergroup_id"
                ],
                "attached_condition": "((`danishecarter_31jan`.`prices`.`lower_limit` = 1) and (`danishecarter_31jan`.`prices`.`usergroup_id` in (0,0,1)))"
              }
            }
          ]
        }
      }
    }
  }
}

Result

product_id	product	company_name	product_ids	product_types	product_type	company_id
17	101 Things Everyone Should Know About Economics A Down and Dirty Guide to Everything from Securities and Derivatives to Interest Rates and Hedge Funds—And What They Mean For You	CS-Cart	17	P	P	1
26	Mac OS X Lion: The Missing Manual	CS-Cart	26	P	P	1
35	Managing Enterprise Content: A Unified Content Strategy, 2nd Edition	CS-Cart	35	P	P	1
36	Routing Protocols and Concepts: CCNA Exploration Companion Guide	CS-Cart	36	P	P	1
20	The ABCs of Gold Investing. How to Protect and Build Your Wealth with Gold	CS-Cart	20	P	P	1
46	The Official SAT Study Guide: Second Edition(TM)	CS-Cart	46	P	P	1
45	The Process of Research in Psychology	CS-Cart	45	P	P	1
44	U.S. History and Government, Second Edition	CS-Cart	44	P	P	1
13	Your Idea, Inc. 12 Steps to Building a Million Dollar Business -- Starting Today!	CS-Cart	13	P	P	1