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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) 
  LEFT JOIN cscart_ec_extra_product_data AS epd ON epd.product_id = products.product_id 
WHERE 
  1 
  AND cscart_categories.category_id IN (200) 
  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 epd.product_id IS NULL 
  AND products.product_type != 'D' 
GROUP BY 
  products.product_id 
ORDER BY 
  product asc, 
  products.product_id ASC 
LIMIT 
  0, 32

Query time 0.00110

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "12.57"
    },
    "ordering_operation": {
      "using_filesort": true,
      "grouping_operation": {
        "using_temporary_table": true,
        "using_filesort": false,
        "nested_loop": [
          {
            "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": "3K"
              },
              "used_columns": [
                "category_id",
                "storefront_id",
                "usergroup_ids",
                "status"
              ]
            }
          },
          {
            "table": {
              "table_name": "companies",
              "access_type": "ALL",
              "possible_keys": [
                "PRIMARY"
              ],
              "rows_examined_per_scan": 2,
              "rows_produced_per_join": 1,
              "filtered": "50.00",
              "cost_info": {
                "read_cost": "2.29",
                "eval_cost": "0.20",
                "prefix_cost": "2.49",
                "data_read_per_join": "8K"
              },
              "used_columns": [
                "company_id",
                "status",
                "company"
              ],
              "attached_condition": "(`pankajecarter_systemsix`.`companies`.`status` = 'A')"
            }
          },
          {
            "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": 4,
              "rows_produced_per_join": 4,
              "filtered": "100.00",
              "using_index": true,
              "cost_info": {
                "read_cost": "1.07",
                "eval_cost": "0.80",
                "prefix_cost": "4.37",
                "data_read_per_join": "64"
              },
              "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_systemsix.products_categories.product_id"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 0,
              "filtered": "8.53",
              "cost_info": {
                "read_cost": "4.00",
                "eval_cost": "0.07",
                "prefix_cost": "9.17",
                "data_read_per_join": "2K"
              },
              "used_columns": [
                "product_id",
                "product_type",
                "status",
                "company_id",
                "usergroup_ids",
                "parent_product_id"
              ],
              "attached_condition": "((`pankajecarter_systemsix`.`products`.`company_id` = `pankajecarter_systemsix`.`companies`.`company_id`) and (`pankajecarter_systemsix`.`products`.`parent_product_id` = 0) and ((`pankajecarter_systemsix`.`products`.`usergroup_ids` = '') or find_in_set(0,`pankajecarter_systemsix`.`products`.`usergroup_ids`) or find_in_set(1,`pankajecarter_systemsix`.`products`.`usergroup_ids`)) and (`pankajecarter_systemsix`.`products`.`status` = 'A') and (`pankajecarter_systemsix`.`products`.`product_type` <> 'D'))"
            }
          },
          {
            "table": {
              "table_name": "epd",
              "access_type": "ALL",
              "rows_examined_per_scan": 3,
              "rows_produced_per_join": 0,
              "filtered": "33.33",
              "not_exists": true,
              "using_join_buffer": "Block Nested Loop",
              "cost_info": {
                "read_cost": "2.43",
                "eval_cost": "0.07",
                "prefix_cost": "11.66",
                "data_read_per_join": "13"
              },
              "used_columns": [
                "product_id"
              ],
              "attached_condition": "(<if>(found_match(epd), isnull(`pankajecarter_systemsix`.`epd`.`product_id`), true) and <if>(is_not_null_compl(epd), (`pankajecarter_systemsix`.`epd`.`product_id` = `pankajecarter_systemsix`.`products_categories`.`product_id`), 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": [
                "pankajecarter_systemsix.products_categories.product_id",
                "const"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 0,
              "filtered": "100.00",
              "cost_info": {
                "read_cost": "0.34",
                "eval_cost": "0.07",
                "prefix_cost": "12.07",
                "data_read_per_join": "1K"
              },
              "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_systemsix.products_categories.product_id"
              ],
              "rows_examined_per_scan": 2,
              "rows_produced_per_join": 0,
              "filtered": "92.52",
              "using_index": true,
              "cost_info": {
                "read_cost": "0.36",
                "eval_cost": "0.13",
                "prefix_cost": "12.57",
                "data_read_per_join": "15"
              },
              "used_columns": [
                "product_id",
                "lower_limit",
                "usergroup_id"
              ],
              "attached_condition": "((`pankajecarter_systemsix`.`prices`.`lower_limit` = 1) and (`pankajecarter_systemsix`.`prices`.`usergroup_id` in (0,0,1)))"
            }
          }
        ]
      }
    }
  }
}

Result

product_id	product	company_name	product_type	full_description
190	AF-S DX NIKKOR 10-24mm f/3.5-4.5G ED	CS-Cart	P	<p>This ultra wide-angle lens, designed exclusively for use with Nikon’s DX-format, provides a versatile wide-angle zoom perspective.</p>
189	AF-S NIKKOR 14-24mm f/2.8G ED	CS-Cart	P	<p>Fast aperture, high-performance, ultra-wide-angle zoom optimized for FX- and DX-format sensors featuring Nikon’s exclusive ED Glass and Nano Crystal Coat.</p>
184	Samsung 30mm NX Pancake Lens	CS-Cart	P	<p>Samsung’s compact 30mm pancake lens is the brightest in its class. With its 30mm fixed focal length and maximum aperture of F/2, you can capture exceptionally bright images — even in low-light situations such as shady forest paths and indoor weddings. You can also create striking, images with shallow depth of field in a variety of settings. And since it’s incredibly slim and lightweight, you can take it with you everywhere.</p>
183	Samsung 50-200mm NX Telephoto OIS Lens	CS-Cart	P	<p>The Samsung T50200SB 50-200mm Telephoto OIS Lens is a long telephoto zoom lens compatible with our NX Series of digital cameras.</p>