SELECT 
  p.product_id, 
  ifnull(
    count(dp.post_id), 
    0
  ) as discussion_amount_posts 
FROM 
  cscart_discussion 
  INNER JOIN cscart_products as p ON (
    cscart_discussion.object_id = p.product_id
  ) 
  INNER JOIN cscart_discussion_posts as dp ON (
    cscart_discussion.thread_id = dp.thread_id 
    AND cscart_discussion.object_type = 'P' 
    AND cscart_discussion.company_id = 1
  ) 
WHERE 
  dp.status = 'A' 
  and p.product_id in (
    255961, 255970, 260992, 261904, 285179, 
    285196, 295915, 315813, 141322, 163581, 
    183619, 210845, 223011, 225199, 236271, 
    238472, 253367, 285186, 285188, 295887, 
    308293, 308343, 308345, 317513
  ) 
GROUP BY 
  p.product_id

Query time 0.00059

JSON explain

{
  "query_block": {
    "select_id": 1,
    "message": "no matching row in const table"
  }
}