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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) 
  LEFT JOIN cscart_product_popularity as popularity ON popularity.product_id = products.product_id 
WHERE 
  1 
  AND cscart_categories.category_id IN (
    577, 474, 475, 476, 473, 578, 616, 617, 
    618, 619, 620, 621, 622, 623, 624, 625, 
    626, 627, 629, 630, 631, 632, 633, 634, 
    635, 636, 637, 638, 639, 640, 641, 642, 
    643, 644, 645, 646, 647, 650, 651, 652, 
    653, 662
  ) 
  AND companies.status IN ('A') 
  AND (
    products.amount > 0 
    OR products.tracking = 'D'
  ) 
  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.product_type != 'D' 
GROUP BY 
  products.product_id 
ORDER BY 
  popularity.total desc, 
  products.product_id ASC 
LIMIT 
  96, 24

Query time 0.11087

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "197.25"
    },
    "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": 10,
              "rows_produced_per_join": 1,
              "filtered": "10.00",
              "cost_info": {
                "read_cost": "1.46",
                "eval_cost": "0.10",
                "prefix_cost": "1.56",
                "data_read_per_join": "6K"
              },
              "used_columns": [
                "company_id",
                "status",
                "company"
              ],
              "attached_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`companies`.`status` = 'A')"
            }
          },
          {
            "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": 42,
              "rows_produced_per_join": 1,
              "filtered": "4.00",
              "index_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`category_id` in (577,474,475,476,473,578,616,617,618,619,620,621,622,623,624,625,626,627,629,630,631,632,633,634,635,636,637,638,639,640,641,642,643,644,645,646,647,650,651,652,653,662))",
              "using_join_buffer": "hash join",
              "cost_info": {
                "read_cost": "29.24",
                "eval_cost": "0.17",
                "prefix_cost": "30.97",
                "data_read_per_join": "5K"
              },
              "used_columns": [
                "category_id",
                "storefront_id",
                "usergroup_ids",
                "status"
              ],
              "attached_condition": "(((`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`usergroup_ids` = '') or (0 <> find_in_set(0,`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`usergroup_ids`)) or (0 <> find_in_set(1,`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`usergroup_ids`))) and (`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`status` in ('A','H')) and (`softwarepirmam_hewadelivard_cscart_4`.`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": [
                "softwarepirmam_hewadelivard_cscart_4.cscart_categories.category_id"
              ],
              "rows_examined_per_scan": 194,
              "rows_produced_per_join": 325,
              "filtered": "100.00",
              "using_index": true,
              "cost_info": {
                "read_cost": "2.45",
                "eval_cost": "32.59",
                "prefix_cost": "66.01",
                "data_read_per_join": "5K"
              },
              "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": [
                "softwarepirmam_hewadelivard_cscart_4.products_categories.product_id"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 16,
              "filtered": "5.00",
              "cost_info": {
                "read_cost": "81.48",
                "eval_cost": "1.63",
                "prefix_cost": "180.08",
                "data_read_per_join": "72K"
              },
              "used_columns": [
                "product_id",
                "product_type",
                "status",
                "company_id",
                "amount",
                "usergroup_ids",
                "tracking",
                "parent_product_id"
              ],
              "attached_condition": "((`softwarepirmam_hewadelivard_cscart_4`.`products`.`company_id` = `softwarepirmam_hewadelivard_cscart_4`.`companies`.`company_id`) and (`softwarepirmam_hewadelivard_cscart_4`.`products`.`parent_product_id` = 0) and ((`softwarepirmam_hewadelivard_cscart_4`.`products`.`amount` > 0) or (`softwarepirmam_hewadelivard_cscart_4`.`products`.`tracking` = 'D')) and ((`softwarepirmam_hewadelivard_cscart_4`.`products`.`usergroup_ids` = '') or (0 <> find_in_set(0,`softwarepirmam_hewadelivard_cscart_4`.`products`.`usergroup_ids`)) or (0 <> find_in_set(1,`softwarepirmam_hewadelivard_cscart_4`.`products`.`usergroup_ids`))) and (`softwarepirmam_hewadelivard_cscart_4`.`products`.`status` = 'A') and (`softwarepirmam_hewadelivard_cscart_4`.`products`.`product_type` <> 'D'))"
            }
          },
          {
            "table": {
              "table_name": "prices",
              "access_type": "ref",
              "possible_keys": [
                "usergroup",
                "product_id",
                "lower_limit",
                "usergroup_id"
              ],
              "key": "product_id",
              "used_key_parts": [
                "product_id"
              ],
              "key_length": "3",
              "ref": [
                "softwarepirmam_hewadelivard_cscart_4.products_categories.product_id"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 16,
              "filtered": "99.93",
              "cost_info": {
                "read_cost": "4.07",
                "eval_cost": "1.63",
                "prefix_cost": "185.79",
                "data_read_per_join": "390"
              },
              "used_columns": [
                "product_id",
                "lower_limit",
                "usergroup_id"
              ],
              "attached_condition": "((`softwarepirmam_hewadelivard_cscart_4`.`prices`.`lower_limit` = 1) and (`softwarepirmam_hewadelivard_cscart_4`.`prices`.`usergroup_id` in (0,0,1)))"
            }
          },
          {
            "table": {
              "table_name": "popularity",
              "access_type": "eq_ref",
              "possible_keys": [
                "PRIMARY",
                "total"
              ],
              "key": "PRIMARY",
              "used_key_parts": [
                "product_id"
              ],
              "key_length": "3",
              "ref": [
                "softwarepirmam_hewadelivard_cscart_4.products_categories.product_id"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 16,
              "filtered": "100.00",
              "cost_info": {
                "read_cost": "4.07",
                "eval_cost": "1.63",
                "prefix_cost": "191.49",
                "data_read_per_join": "521"
              },
              "used_columns": [
                "product_id",
                "total"
              ]
            }
          },
          {
            "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": [
                "softwarepirmam_hewadelivard_cscart_4.products_categories.product_id",
                "const"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 16,
              "filtered": "100.00",
              "cost_info": {
                "read_cost": "4.14",
                "eval_cost": "1.63",
                "prefix_cost": "197.25",
                "data_read_per_join": "74K"
              },
              "used_columns": [
                "product_id",
                "lang_code",
                "product"
              ]
            }
          }
        ]
      }
    }
  }
}

Result

product_id	product	company_name	product_type
8682	Anua Rice 7+ Ceramide Hydrating Barrier Serum	Delivard Store	P
5974	Trisa Hair Cutter - Vario Blade 2-in-1	Delivard Store	P
8161	COSRX BHA Blackhead Power Liquid	Delivard Store	P
8149	Clarins RE-BOOST Hydra-Energizing Cream	Delivard Store	P
8246	Lierac Double Concentrate Rosilgie	Delivard Store	P
8200	Glamglow Glowstarter™ Mega Illuminating Moisturizer Daily Illuminating Hydration	Delivard Store	P
8216	Glow Recipe Serum Superstars 4‑Piece Set – Travel Size Serums & Toner	Delivard Store	P
8217	Glow Recipe “Get Glowing With Me” Trio Set – 3 Full-Size Essentials	Delivard Store	P
8305	Mario Badescu Facial Spray with Aloe Sage and Orange Blossom	Delivard Store	P
6523	Braun Satin Hair 5 ST510 Hair Straightener	Delivard Store	P
8204	Glow Recipe Dewy Skin Dazzlers 3‑Piece Glow Kit	Delivard Store	P
8260	Lierac Sebologie Keratolytic Solution	Delivard Store	P
8302	Lysedia Liftage Night Cream	Delivard Store	P
8366	SVR SEBIACLEAR MAT + PORES	Delivard Store	P
6675	BaByliss Turbo Smooth Hair Dryer - 2200W Powerful Hair Dryer, Large Diffuser, Ionic Lint-Free Conditioning, 3 Heat & 2 Speed Settings	Delivard Store	P
8301	Lysedia Liftage Day Cream	Delivard Store	P
8303	Mario Badescu Drying Lotion	Delivard Store	P
8304	Mario Badescu Drying Patch 60 Patches	Delivard Store	P
8324	SHISEIDO Future Solution LX Concentrated Balancing Softener	Delivard Store	P
5419	Trisa Hair Dryer Ion Care Pro	Delivard Store	P
5423	Trisa Hair Cutter Mighty Blade	Delivard Store	P
8215	GLOW RECIPE G.S DEWY DESTINATION 3 PCS	Delivard Store	P
8307	Pixi Retinol Jasmine Lotion	Delivard Store	P
8323	SHISEIDO ESSENTIAL ENERGY HYDRATING CREAM	Delivard Store	P