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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 
  q_products as products 
  LEFT JOIN q_product_options_inventory as inventory ON inventory.product_id = products.product_id 
  LEFT JOIN q_product_descriptions as descr1 ON descr1.product_id = products.product_id 
  AND descr1.lang_code = 'en' 
  LEFT JOIN q_product_prices as prices ON prices.product_id = products.product_id 
  AND prices.lower_limit = 1 
  LEFT JOIN q_companies AS companies ON companies.company_id = products.company_id 
  INNER JOIN q_products_categories as products_categories ON products_categories.product_id = products.product_id 
  INNER JOIN q_categories ON q_categories.category_id = products_categories.category_id 
  AND (
    q_categories.usergroup_ids = '' 
    OR FIND_IN_SET(0, q_categories.usergroup_ids) 
    OR FIND_IN_SET(1, q_categories.usergroup_ids)
  ) 
  AND q_categories.status IN ('A', 'H') 
WHERE 
  1 
  AND q_categories.category_id IN (
    12, 13, 14, 29, 40, 45, 51, 52, 69, 78, 85, 
    93, 96, 293, 564, 608, 15, 30, 41, 46, 
    50, 53, 68, 70, 79, 92, 97, 294, 609, 16, 
    31, 38, 42, 47, 54, 71, 77, 80, 87, 91, 
    94, 98, 295, 17, 32, 43, 44, 48, 55, 72, 
    81, 84, 88, 95, 99, 296, 597, 605, 18, 
    33, 49, 56, 73, 82, 83, 89, 297, 555, 607, 
    19, 34, 57, 74, 90, 298, 582, 600, 20, 
    35, 58, 75, 205, 604, 21, 37, 59, 76, 601, 
    22, 60, 23, 66, 24, 613, 25, 26, 27, 28, 
    36
  ) 
  AND companies.status = 'A' 
  AND (
    CASE products.tracking WHEN 'O' THEN inventory.amount > 0 WHEN 'B' THEN products.amount > 0 ELSE 1 END
  ) 
  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 
GROUP BY 
  products.product_id 
ORDER BY 
  products.timestamp desc, 
  products.product_id ASC 
LIMIT 
  16, 16

Query time 0.05709

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "2328.02"
    },
    "ordering_operation": {
      "using_filesort": true,
      "grouping_operation": {
        "using_temporary_table": true,
        "using_filesort": false,
        "nested_loop": [
          {
            "table": {
              "table_name": "inventory",
              "access_type": "system",
              "possible_keys": [
                "pc"
              ],
              "rows_examined_per_scan": 0,
              "rows_produced_per_join": 1,
              "filtered": "0.00",
              "const_row_not_found": true,
              "cost_info": {
                "read_cost": "0.00",
                "eval_cost": "0.20",
                "prefix_cost": "0.00",
                "data_read_per_join": "976"
              },
              "used_columns": [
                "product_id",
                "amount"
              ]
            }
          },
          {
            "table": {
              "table_name": "products_categories",
              "access_type": "range",
              "possible_keys": [
                "PRIMARY",
                "pt"
              ],
              "key": "PRIMARY",
              "used_key_parts": [
                "category_id"
              ],
              "key_length": "3",
              "rows_examined_per_scan": 2754,
              "rows_produced_per_join": 2754,
              "filtered": "100.00",
              "using_index": true,
              "cost_info": {
                "read_cost": "620.64",
                "eval_cost": "550.80",
                "prefix_cost": "1171.44",
                "data_read_per_join": "43K"
              },
              "used_columns": [
                "product_id",
                "category_id"
              ],
              "attached_condition": "(`portal`.`products_categories`.`category_id` in (12,13,14,29,40,45,51,52,69,78,85,93,96,293,564,608,15,30,41,46,50,53,68,70,79,92,97,294,609,16,31,38,42,47,54,71,77,80,87,91,94,98,295,17,32,43,44,48,55,72,81,84,88,95,99,296,597,605,18,33,49,56,73,82,83,89,297,555,607,19,34,57,74,90,298,582,600,20,35,58,75,205,604,21,37,59,76,601,22,60,23,66,24,613,25,26,27,28,36))"
            }
          },
          {
            "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": [
                "portal.products_categories.product_id"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 2442,
              "filtered": "88.70",
              "cost_info": {
                "read_cost": "0.00",
                "eval_cost": "488.54",
                "prefix_cost": "1722.24",
                "data_read_per_join": "14M"
              },
              "used_columns": [
                "product_id",
                "product_type",
                "status",
                "company_id",
                "amount",
                "timestamp",
                "usergroup_ids",
                "tracking",
                "parent_product_id"
              ],
              "attached_condition": "((`portal`.`products`.`parent_product_id` = 0) and (case `portal`.`products`.`tracking` when 'O' then <cache>((NULL > 0)) when 'B' then (`portal`.`products`.`amount` > 0) else 1 end) and ((`portal`.`products`.`usergroup_ids` = '') or find_in_set(0,`portal`.`products`.`usergroup_ids`) or find_in_set(1,`portal`.`products`.`usergroup_ids`)) and (`portal`.`products`.`status` = 'A'))"
            }
          },
          {
            "table": {
              "table_name": "companies",
              "access_type": "eq_ref",
              "possible_keys": [
                "PRIMARY"
              ],
              "key": "PRIMARY",
              "used_key_parts": [
                "company_id"
              ],
              "key_length": "4",
              "ref": [
                "portal.products.company_id"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 244,
              "filtered": "10.00",
              "cost_info": {
                "read_cost": "0.00",
                "eval_cost": "48.85",
                "prefix_cost": "2210.77",
                "data_read_per_join": "1M"
              },
              "used_columns": [
                "company_id",
                "status",
                "company"
              ],
              "attached_condition": "(`portal`.`companies`.`status` = 'A')"
            }
          },
          {
            "table": {
              "table_name": "q_categories",
              "access_type": "eq_ref",
              "possible_keys": [
                "PRIMARY",
                "c_status",
                "p_category_id"
              ],
              "key": "PRIMARY",
              "used_key_parts": [
                "category_id"
              ],
              "key_length": "3",
              "ref": [
                "portal.products_categories.category_id"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 48,
              "filtered": "20.00",
              "cost_info": {
                "read_cost": "0.00",
                "eval_cost": "9.77",
                "prefix_cost": "2259.63",
                "data_read_per_join": "129K"
              },
              "used_columns": [
                "category_id",
                "usergroup_ids",
                "status"
              ],
              "attached_condition": "(((`portal`.`q_categories`.`usergroup_ids` = '') or find_in_set(0,`portal`.`q_categories`.`usergroup_ids`) or find_in_set(1,`portal`.`q_categories`.`usergroup_ids`)) and (`portal`.`q_categories`.`status` in ('A','H')))"
            }
          },
          {
            "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": [
                "portal.products_categories.product_id",
                "const"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 48,
              "filtered": "100.00",
              "cost_info": {
                "read_cost": "0.00",
                "eval_cost": "9.77",
                "prefix_cost": "2269.40",
                "data_read_per_join": "186K"
              },
              "used_columns": [
                "product_id",
                "lang_code",
                "product"
              ]
            }
          },
          {
            "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": [
                "portal.products_categories.product_id"
              ],
              "rows_examined_per_scan": 1,
              "rows_produced_per_join": 48,
              "filtered": "99.95",
              "using_index": true,
              "cost_info": {
                "read_cost": "48.85",
                "eval_cost": "9.77",
                "prefix_cost": "2328.02",
                "data_read_per_join": "1K"
              },
              "used_columns": [
                "product_id",
                "lower_limit",
                "usergroup_id"
              ],
              "attached_condition": "((`portal`.`prices`.`lower_limit` = 1) and (`portal`.`prices`.`usergroup_id` in (0,0,1)))"
            }
          }
        ]
      }
    }
  }
}

Result

product_id	product	company_name	product_type
51099	3pcs Magnetic Sunglasses Polarized for Men	Vilocity cart	P
51098	Buy 2 Get 1 Free Men Genuine Leather Belts	Vilocity cart	P
51095	2 Pcs Zistar Stainless Steel Watches	Vilocity cart	P
51094	Bluetooth Earphone Bluetooth Sunglasses Outdoor Telephone Driving	Vilocity cart	P
51093	Buy 1 Get 1 Free Sumax Pair Watch Gold	Vilocity cart	P
51092	Piaoma Buy 1 Get 1 Free Men's Stainless Steel Digital Casual Wrist Watch, PM16	Vilocity cart	P
51078	3 in 1 New Square Rimless Sunglasses Women Luxury Brand Designer outdoor UV protection	Vilocity cart	P
51069	6pcs Luxury Starry Sky Watch Magnet Strap Wristwatch Women Gift	Vilocity cart	P
51064	Digital Round Watch With Light Unique Design	Vilocity cart	P
51058	2 Pieces Couple Watches Fashion Quartz Wristwatches Accessory	Vilocity cart	P
51043	2PCS Stainless Steel Curren Men's Waterproof Analog Watch 8046-B1	Vilocity cart	P
51042	Zistar Silver and Gold 2PCS Couple watches	Vilocity cart	P
51037	Zistar Romance 2PCS watches Buy 1 Get 1 Free	Vilocity cart	P
51036	Sports Watch Buy 1 Get 1 Free	Vilocity cart	P
51029	Piaoma Men's Stainless Steel Analog Casual Wrist Watch	Vilocity cart	P
51008	Zistar Romance Couple Watch - Gold	Vilocity cart	P