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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, 
  descr1.full_description as full_description 
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 (187) 
  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 
  0, 32

Query time 0.00094

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "4.28"
    },
    "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": "6K"
              },
              "used_columns": [
                "company_id",
                "status",
                "company"
              ]
            }
          },
          {
            "table": {
              "table_name": "cscart_categories",
              "access_type": "const",
              "possible_keys": [
                "PRIMARY",
                "c_status",
                "p_category_id"
              ],
              "key": "PRIMARY",
              "used_key_parts": [
                "category_id"
              ],
              "key_length": "3",
              "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": "2K"
              },
              "used_columns": [
                "category_id",
                "storefront_id",
                "usergroup_ids",
                "status"
              ]
            }
          },
          {
            "table": {
              "table_name": "products_categories",
              "access_type": "ref",
              "possible_keys": [
                "PRIMARY",
                "pt"
              ],
              "key": "PRIMARY",
              "used_key_parts": [
                "category_id"
              ],
              "key_length": "3",
              "ref": [
                "const"
              ],
              "rows_examined_per_scan": 2,
              "rows_produced_per_join": 2,
              "filtered": "100.00",
              "using_index": true,
              "cost_info": {
                "read_cost": "1.02",
                "eval_cost": "0.40",
                "prefix_cost": "1.42",
                "data_read_per_join": "32"
              },
              "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": [
                "pankajecarter_systemfour.products_categories.product_id"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 0,
              "filtered": "7.93",
              "cost_info": {
                "read_cost": "2.00",
                "eval_cost": "0.03",
                "prefix_cost": "3.82",
                "data_read_per_join": "715"
              },
              "used_columns": [
                "product_id",
                "product_type",
                "status",
                "company_id",
                "usergroup_ids",
                "parent_product_id"
              ],
              "attached_condition": "((`pankajecarter_systemfour`.`products`.`parent_product_id` = 0) and (`pankajecarter_systemfour`.`products`.`company_id` = 1) and ((`pankajecarter_systemfour`.`products`.`usergroup_ids` = '') or find_in_set(0,`pankajecarter_systemfour`.`products`.`usergroup_ids`) or find_in_set(1,`pankajecarter_systemfour`.`products`.`usergroup_ids`)) and (`pankajecarter_systemfour`.`products`.`status` = 'A') and (`pankajecarter_systemfour`.`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": [
                "pankajecarter_systemfour.products_categories.product_id",
                "const"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 0,
              "filtered": "100.00",
              "cost_info": {
                "read_cost": "0.16",
                "eval_cost": "0.03",
                "prefix_cost": "4.02",
                "data_read_per_join": "741"
              },
              "used_columns": [
                "product_id",
                "lang_code",
                "product",
                "full_description"
              ]
            }
          },
          {
            "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": [
                "pankajecarter_systemfour.products_categories.product_id"
              ],
              "rows_examined_per_scan": 3,
              "rows_produced_per_join": 0,
              "filtered": "97.92",
              "using_index": true,
              "cost_info": {
                "read_cost": "0.17",
                "eval_cost": "0.09",
                "prefix_cost": "4.28",
                "data_read_per_join": "11"
              },
              "used_columns": [
                "product_id",
                "lower_limit",
                "usergroup_id"
              ],
              "attached_condition": "((`pankajecarter_systemfour`.`prices`.`lower_limit` = 1) and (`pankajecarter_systemfour`.`prices`.`usergroup_id` in (0,0,1)))"
            }
          }
        ]
      }
    }
  }
}

Result

product_id	product	company_name	product_type	full_description
56	GM-6500F	CS-Cart	P	<p>From dramatic distinction to dramatic design, Pioneer's new GM-Series amplifiers are thrillers in every sense, pushing the limits of flexibility and functionality.<br /><br />The 4-channel GM-6500F delivers a whopping 760 watts max - plenty of juice to power your speakers. It's also got built-in low-pass/high-pass crossovers, speaker level inputs for easy connection to an OEM headunit and oversized power terminals.</p>
57	GM-D8500M	CS-Cart	P	<p>Class-D amplifiers overcome the inefficiencies of traditional Class-A or AB amplifiers. Pioneer’s Class-D amps transform very little power into heat so a higher percentage of the power supply (67%) is transformed into the load. This results in a very compact amp which needs less input power to produce very high output power. The Class-D amplifier’s PWM (Pulse Width Modulator) modulates the original audio input signal with a triangulated signal wave which has a much higher fixed frequency. The result is a digital signal which contains both the input signal and a band of frequency components around the modulation frequency. A LPF (Low Pass Filter) then filters out the high frequency pulses and the resulting amplified output signal is then sent to the subwoofer and/or speakers.</p>
55	PRS-D800	CS-Cart	P	<p>The PRS-D800 2-channel amplifier contains audiophile grade components that were carefully selected and design perfected to achieve highest audio quality.</p>