SELECT 
  netting_product_prices.product_id, 
  COALESCE(
    netting_master_products_storefront_min_price.price, 
    MIN(
      IF(
        netting_product_prices.percentage_discount = 0, 
        netting_product_prices.price, 
        netting_product_prices.price - (
          netting_product_prices.price * netting_product_prices.percentage_discount
        )/ 100
      )
    )
  ) AS price 
FROM 
  netting_product_prices 
  LEFT JOIN netting_master_products_storefront_min_price ON netting_master_products_storefront_min_price.product_id = netting_product_prices.product_id 
  AND netting_master_products_storefront_min_price.storefront_id = 1 
WHERE 
  netting_product_prices.product_id IN (
    531, 570, 592, 569, 707, 757, 761, 834
  ) 
  AND netting_product_prices.lower_limit = 1 
  AND netting_product_prices.usergroup_id IN (0, 1) 
GROUP BY 
  netting_product_prices.product_id

Query time 0.00061

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "table": {
          "table_name": "netting_master_products_storefront_min_price",
          "access_type": "system",
          "possible_keys": ["PRIMARY"],
          "rows": 0,
          "filtered": 0,
          "const_row_not_found": true
        }
      },
      {
        "table": {
          "table_name": "netting_product_prices",
          "access_type": "range",
          "possible_keys": [
            "usergroup",
            "product_id",
            "lower_limit",
            "usergroup_id"
          ],
          "key": "product_id",
          "key_length": "3",
          "used_key_parts": ["product_id"],
          "rows": 8,
          "filtered": 99.56521606,
          "index_condition": "netting_product_prices.product_id in (531,570,592,569,707,757,761,834)",
          "attached_condition": "netting_product_prices.lower_limit = 1 and netting_product_prices.usergroup_id in (0,1)"
        }
      }
    ]
  }
}