SELECT 
  f.feature_id, 
  f.purpose, 
  p.product_id, 
  p.parent_product_id, 
  g.id, 
  g.code 
FROM 
  cscart_product_variation_group_features AS f 
  INNER JOIN cscart_product_variation_groups AS g ON f.group_id = g.id 
  INNER JOIN cscart_product_variation_group_products AS p ON f.group_id = p.group_id 
WHERE 
  p.product_id IN (
    6721, 3863, 3148, 6718, 6722, 3144, 3147, 
    3096, 339, 3104, 3107, 6682, 6678, 104, 
    105, 106, 107, 108, 109, 110, 4013, 4014, 
    4015, 4016
  )

Query time 0.00053

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "50.41"
    },
    "nested_loop": [
      {
        "table": {
          "table_name": "p",
          "access_type": "range",
          "possible_keys": [
            "PRIMARY",
            "idx_group_id"
          ],
          "key": "PRIMARY",
          "used_key_parts": [
            "product_id"
          ],
          "key_length": "3",
          "rows_examined_per_scan": 24,
          "rows_produced_per_join": 24,
          "filtered": "100.00",
          "index_condition": "(`gaseus`.`p`.`product_id` in (6721,3863,3148,6718,6722,3144,3147,3096,339,3104,3107,6682,6678,104,105,106,107,108,109,110,4013,4014,4015,4016))",
          "cost_info": {
            "read_cost": "14.41",
            "eval_cost": "2.40",
            "prefix_cost": "16.81",
            "data_read_per_join": "384"
          },
          "used_columns": [
            "product_id",
            "parent_product_id",
            "group_id"
          ]
        }
      },
      {
        "table": {
          "table_name": "g",
          "access_type": "eq_ref",
          "possible_keys": [
            "PRIMARY"
          ],
          "key": "PRIMARY",
          "used_key_parts": [
            "id"
          ],
          "key_length": "3",
          "ref": [
            "gaseus.p.group_id"
          ],
          "rows_examined_per_scan": 1,
          "rows_produced_per_join": 24,
          "filtered": "100.00",
          "cost_info": {
            "read_cost": "6.00",
            "eval_cost": "2.40",
            "prefix_cost": "25.21",
            "data_read_per_join": "9K"
          },
          "used_columns": [
            "id",
            "code"
          ]
        }
      },
      {
        "table": {
          "table_name": "f",
          "access_type": "ref",
          "possible_keys": [
            "idx_group_id"
          ],
          "key": "idx_group_id",
          "used_key_parts": [
            "group_id"
          ],
          "key_length": "3",
          "ref": [
            "gaseus.p.group_id"
          ],
          "rows_examined_per_scan": 3,
          "rows_produced_per_join": 72,
          "filtered": "100.00",
          "cost_info": {
            "read_cost": "18.00",
            "eval_cost": "7.20",
            "prefix_cost": "50.41",
            "data_read_per_join": "7K"
          },
          "used_columns": [
            "feature_id",
            "purpose",
            "group_id"
          ]
        }
      }
    ]
  }
}