SELECT 
  cscart_product_prices.product_id, 
  MIN(
    IF(
      cscart_product_prices.percentage_discount = 0, 
      cscart_product_prices.price, 
      cscart_product_prices.price - (
        cscart_product_prices.price * cscart_product_prices.percentage_discount
      )/ 100
    )
  ) AS price 
FROM 
  cscart_product_prices 
WHERE 
  cscart_product_prices.product_id IN (
    5196, 4833, 5250, 4752, 5190, 5253, 5251, 
    3801, 5211, 5194, 4763, 4782, 3445, 
    5192, 5248, 5373, 5193, 4806, 5209, 
    4781, 4824, 4821, 4731, 4813, 4769, 
    4828, 5249, 4832, 5198, 4831, 5195, 
    4818, 5247, 4755, 5203, 4762, 5246, 
    5214, 5252, 5199
  ) 
  AND cscart_product_prices.lower_limit = 1 
  AND cscart_product_prices.usergroup_id IN (0, 1) 
GROUP BY 
  cscart_product_prices.product_id

Query time 0.00123

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "28.01"
    },
    "grouping_operation": {
      "using_filesort": false,
      "table": {
        "table_name": "cscart_product_prices",
        "access_type": "range",
        "possible_keys": [
          "usergroup",
          "product_id",
          "lower_limit",
          "usergroup_id"
        ],
        "key": "product_id",
        "used_key_parts": [
          "product_id"
        ],
        "key_length": "3",
        "rows_examined_per_scan": 40,
        "rows_produced_per_join": 7,
        "filtered": "19.99",
        "index_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`cscart_product_prices`.`product_id` in (5196,4833,5250,4752,5190,5253,5251,3801,5211,5194,4763,4782,3445,5192,5248,5373,5193,4806,5209,4781,4824,4821,4731,4813,4769,4828,5249,4832,5198,4831,5195,4818,5247,4755,5203,4762,5246,5214,5252,5199))",
        "cost_info": {
          "read_cost": "27.21",
          "eval_cost": "0.80",
          "prefix_cost": "28.01",
          "data_read_per_join": "191"
        },
        "used_columns": [
          "product_id",
          "price",
          "percentage_discount",
          "lower_limit",
          "usergroup_id"
        ],
        "attached_condition": "((`softwarepirmam_hewadelivard_cscart_4`.`cscart_product_prices`.`lower_limit` = 1) and (`softwarepirmam_hewadelivard_cscart_4`.`cscart_product_prices`.`usergroup_id` in (0,1)))"
      }
    }
  }
}

Result

product_id price
3445 316000.00000000
3801 720000.00000000
4731 1936000.00000000
4752 738000.00000000
4755 1386000.00000000
4762 172000.00000000
4763 105000.00000000
4769 82000.00000000
4781 162000.00000000
4782 108000.00000000
4806 136000.00000000
4813 136000.00000000
4818 32000.00000000
4821 195000.00000000
4824 252000.00000000
4828 324000.00000000
4831 136000.00000000
4832 352000.00000000
4833 136000.00000000
5190 202000.00000000
5192 262000.00000000
5193 514000.00000000
5194 226000.00000000
5195 288000.00000000
5196 414000.00000000
5198 702000.00000000
5199 172000.00000000
5203 324000.00000000
5209 270000.00000000
5211 306000.00000000
5214 180000.00000000
5246 360000.00000000
5247 162000.00000000
5248 226000.00000000
5249 900000.00000000
5250 1170000.00000000
5251 1890000.00000000
5252 514000.00000000
5253 352000.00000000
5373 468000.00000000