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 (
    163, 164, 165, 167, 168, 169, 170, 171, 
    172, 173, 174, 175, 176, 177, 178, 179, 
    180, 181, 182, 183, 184, 185, 186, 187, 
    188, 189, 190, 191, 1, 5, 7, 8, 9, 10, 11, 
    12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 
    22, 23, 24
  )

Query time 0.00041

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "g",
      "access_type": "system",
      "possible_keys": ["PRIMARY"],
      "rows": 1,
      "filtered": 100
    },
    "table": {
      "table_name": "f",
      "access_type": "ref",
      "possible_keys": ["idx_group_id"],
      "key": "idx_group_id",
      "key_length": "3",
      "used_key_parts": ["group_id"],
      "ref": ["const"],
      "rows": 2,
      "filtered": 100
    },
    "block-nl-join": {
      "table": {
        "table_name": "p",
        "access_type": "ALL",
        "possible_keys": ["PRIMARY", "idx_group_id"],
        "rows": 7,
        "filtered": 100,
        "attached_condition": "p.group_id = 10 and p.product_id in (163,164,165,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,1,5,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24)"
      },
      "buffer_type": "flat",
      "buffer_size": "1Kb",
      "join_type": "BNL"
    }
  }
}