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 (
    19899, 20209, 20162, 20163, 20164, 20211, 
    20165, 20210, 20160, 20161, 20017, 
    20018, 20020, 20021, 20022, 20019, 
    19936, 19937, 19938, 19926, 19928, 
    19927, 19956, 19957
  )

Query time 0.00074

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "f",
      "access_type": "ALL",
      "possible_keys": ["idx_group_id"],
      "rows": 6,
      "filtered": 100
    },
    "table": {
      "table_name": "g",
      "access_type": "eq_ref",
      "possible_keys": ["PRIMARY"],
      "key": "PRIMARY",
      "key_length": "3",
      "used_key_parts": ["id"],
      "ref": ["admin_test.f.group_id"],
      "rows": 1,
      "filtered": 100
    },
    "table": {
      "table_name": "p",
      "access_type": "ALL",
      "possible_keys": ["PRIMARY", "idx_group_id"],
      "rows": 15,
      "filtered": 80,
      "attached_condition": "p.group_id = f.group_id and p.product_id in (19899,20209,20162,20163,20164,20211,20165,20210,20160,20161,20017,20018,20020,20021,20022,20019,19936,19937,19938,19926,19928,19927,19956,19957)"
    }
  }
}