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 (
    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.company_id IN('1', '2', '3', '4', '5', '6') 
  AND products.product_type != 'D' 
GROUP BY 
  products.product_id 
ORDER BY 
  product asc, 
  products.product_id ASC 
LIMIT 
  84, 12

Query time 0.00574

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "32.12"
    },
    "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": 6,
              "rows_produced_per_join": 1,
              "filtered": "16.67",
              "cost_info": {
                "read_cost": "3.27",
                "eval_cost": "0.20",
                "prefix_cost": "3.47",
                "data_read_per_join": "7K"
              },
              "used_columns": [
                "company_id",
                "status",
                "company"
              ],
              "attached_condition": "((`atulecarter_atul_demo1`.`companies`.`status` = 'A') and (`atulecarter_atul_demo1`.`companies`.`company_id` in ('1','2','3','4','5','6')))"
            }
          },
          {
            "table": {
              "table_name": "cscart_categories",
              "access_type": "ALL",
              "possible_keys": [
                "PRIMARY",
                "c_status",
                "p_category_id"
              ],
              "rows_examined_per_scan": 86,
              "rows_produced_per_join": 1,
              "filtered": "1.63",
              "using_join_buffer": "Block Nested Loop",
              "cost_info": {
                "read_cost": "20.42",
                "eval_cost": "0.28",
                "prefix_cost": "24.16",
                "data_read_per_join": "3K"
              },
              "used_columns": [
                "category_id",
                "storefront_id",
                "usergroup_ids",
                "status"
              ],
              "attached_condition": "((`atulecarter_atul_demo1`.`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 ((`atulecarter_atul_demo1`.`cscart_categories`.`usergroup_ids` = '') or find_in_set(0,`atulecarter_atul_demo1`.`cscart_categories`.`usergroup_ids`) or find_in_set(1,`atulecarter_atul_demo1`.`cscart_categories`.`usergroup_ids`)) and (`atulecarter_atul_demo1`.`cscart_categories`.`status` in ('A','H')) and (`atulecarter_atul_demo1`.`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": [
                "atulecarter_atul_demo1.cscart_categories.category_id"
              ],
              "rows_examined_per_scan": 3,
              "rows_produced_per_join": 4,
              "filtered": "100.00",
              "using_index": true,
              "cost_info": {
                "read_cost": "1.48",
                "eval_cost": "0.84",
                "prefix_cost": "26.48",
                "data_read_per_join": "67"
              },
              "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": [
                "atulecarter_atul_demo1.products_categories.product_id"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 0,
              "filtered": "5.00",
              "cost_info": {
                "read_cost": "4.20",
                "eval_cost": "0.04",
                "prefix_cost": "31.52",
                "data_read_per_join": "1K"
              },
              "used_columns": [
                "product_id",
                "product_type",
                "status",
                "company_id",
                "usergroup_ids",
                "parent_product_id"
              ],
              "attached_condition": "((`atulecarter_atul_demo1`.`products`.`company_id` = `atulecarter_atul_demo1`.`companies`.`company_id`) and (`atulecarter_atul_demo1`.`products`.`parent_product_id` = 0) and ((`atulecarter_atul_demo1`.`products`.`usergroup_ids` = '') or find_in_set(0,`atulecarter_atul_demo1`.`products`.`usergroup_ids`) or find_in_set(1,`atulecarter_atul_demo1`.`products`.`usergroup_ids`)) and (`atulecarter_atul_demo1`.`products`.`status` = 'A') and (`atulecarter_atul_demo1`.`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": [
                "atulecarter_atul_demo1.products_categories.product_id",
                "const"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 0,
              "filtered": "100.00",
              "cost_info": {
                "read_cost": "0.21",
                "eval_cost": "0.04",
                "prefix_cost": "31.77",
                "data_read_per_join": "981"
              },
              "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": [
                "atulecarter_atul_demo1.products_categories.product_id"
              ],
              "rows_examined_per_scan": 3,
              "rows_produced_per_join": 0,
              "filtered": "97.36",
              "using_index": true,
              "cost_info": {
                "read_cost": "0.22",
                "eval_cost": "0.12",
                "prefix_cost": "32.12",
                "data_read_per_join": "14"
              },
              "used_columns": [
                "product_id",
                "lower_limit",
                "usergroup_id"
              ],
              "attached_condition": "((`atulecarter_atul_demo1`.`prices`.`lower_limit` = 1) and (`atulecarter_atul_demo1`.`prices`.`usergroup_id` in (0,0,1)))"
            }
          }
        ]
      }
    }
  }
}

Result

product_id product company_name product_type parent_product_id full_description
21 Toshiba SD3300 DVD Player CS-Cart P 0 <p>Toshiba SD3300 DVD Player's narrower width gives this unit a smaller footprint and will help to conserve entertainment center shelf space.</p>
50 TS-D1720C CS-Cart P 0 <p>Absolute fidelity to musical sources takes form from speakers that reproduce the ambience in which sounds originate. Stage size, musicians&rsquo; movement, aural reflection and other distinctive details all bring these sounds to life. Pioneer D-Series speakers are available in 2-way component packages or 2-way coaxial designs in multiple sizes that fit most vehicles.</p>
51 TS-D6902R CS-Cart P 0 <p>Absolute fidelity to musical sources takes form from speakers that reproduce the ambience in which sounds originate. Stage size, musicians&rsquo; movement, aural reflection and other distinctive details all bring these sounds to life. Pioneer D-Series speakers are available in 2-way component packages or 2-way coaxial designs in multiple sizes that fit most vehicles.</p>
49 TS-MR1640 CS-Cart P 0 <p>Whether you're out on the water or at the dock, this 6-1/2&rdquo; two-way speaker adds a new dimension to your boat. It's built specifically for marine use, with heavy-duty construction inside and out that strenuously resists water, corrosion, heat, and sunlight.</p>
48 TS-MR2040 CS-Cart P 0 <p>This is marine audio at its best. This 8" two-way speaker is built specifically for marine use, with heavy-duty construction that strenuously resists water, corrosion, heat&mdash;and boring music. Pioneer research showed that more bass is required for boating applications, and this 8" size delivers.</p>
54 TS-W3002D2|D4 CS-Cart P 0 <p>The TS-W3002D2/4 subwoofers are designed to produce enormously powerful music. Just take a look at its super-heavy-duty construction, all designed to handle up to 3,500 watts max. Double-stacked magnets for higher power, and a step-up radial surround for superior control and long excursions. We used a constructed cast-aluminum basket for this sub. Add in our patented IMPP cone and you've got a monster sub that can handle whatever you want to throw at it.</p>
153 UR55 Full Size Headphones CS-Cart P 0 <p>Slipping into a set of lightweight, professional headphones like the Koss UR55 studio headphones is like listening to a live musical performance at a spacious outdoor venue. These high velocity headphones feature open-screen ear cups that deliver great sound, lasting comfort, and impressive air circulation. <br /><br />Designed to deliver equal parts sound quality and comfort, Koss UR55s bump with massive bass while their lightweight foam ear cushions are enough to convince you it&rsquo;s just you and the music. A padded sling with a sturdy metal headband reinforcement provides extreme durability, while the swivel ear cups encourage maximum flexibility, single-ear listening and convenient storage.</p>
164 WB210 10MB 14 Megapixel Slim Digital Camera (Red) CS-Cart P 0 <p>When shooting in low light, zooming in on a shot, or when your camera is unsteady, Optical Image Stabilization helps eliminate blurry results. This feature stabilizes your photos by changing their path to the image sensor before they are recorded digitally. Your photos come out sharp and ideally focused.</p>
248 X-Box One CS-Cart P 0 <p>Xbox One's exterior casing consists of a two-tone "liquid black" finish; with half finished in a matte grey, and the other in a glossier black. The design was intended to evoke a more entertainment-oriented and simplified look than previous iterations of the console; among other changes.</p><div>It is powered by an AMD "Jaguar" Accelerated Processing Unit (APU) with two quad-core modules totaling eight x86-64 cores clocked at 1.75 GHz, and 8 GB of DDR3 RAM with a memory bandwidth of 68.3 GB/s. The memory subsystem also features an additional 32 MB of "embedded static" RAM, or ESRAM, with a memory bandwidth of 109 GB/s.</div>
65 XRS 9370 CS-Cart P 0 <p>The XRS 9370 provides total protection and peace of mind with the Xtreme Range Superheterodyne technology, detecting all 14 radar/laser bands at greater range than its predecessor. It comes in an industry-leading compact design with UltraBright&trade; Data Display, LaserEye&reg;, and much more.</p>
64 XRS 9745 CS-Cart P 0 <p>The XRS 9745 provides total protection and peace of mind with Xtreme Range Superheterodyne&reg; Technology, detecting all 15 radar/laser bands with its super-fast lock-on detection circuitry. The unit provides extra detection range and the best possible advance warning to even the fastest of POP mode radar guns. Other features include DigiView&reg; Text Display, an 8-point electronic compass, Voice Alert&trade;, and much more.</p>
63 XRS 9770 CS-Cart P 0 <p>The XRS 9770 provides total protection and peace of mind with Xtreme Range Superheterodyne Technology, detecting all 15 radar/laser bands with its completely new, super-fast lock-on detection circuitry. The unit provides extra detection range and the best possible advance warning to even the fastest of POP mode radar guns. Other features include DigiView&reg; Text Display, an 8-point electronic compass, Voice Alert, and much more.</p>