I have the following example data structure of customer that can be part of multiple groups using a junction table and data:

CREATE TABLE `customer` (
    `id` INT NOT NULL
);

CREATE TABLE `groups` (
    `id` INT NOT NULL
);

CREATE TABLE `customers_to_groups` (
    `id` INT NOT NULL AUTO_INCREMENT,
    `group_id` INT,
    `customer_id` INT,
);

INSERT INTO customer(id) VALUES(0);
INSERT INTO customer(id) VALUES(1);
INSERT INTO customer(id) VALUES(2);
INSERT INTO customer(id) VALUES(3);
INSERT INTO groups(id) VALUES(1);
INSERT INTO groups(id) VALUES(3);
INSERT INTO groups(id) VALUES(5);
INSERT INTO groups(id) VALUES(6);
INSERT INTO customers_to_groups(customer_id, group_id) VALUES(0, 1);
INSERT INTO customers_to_groups(customer_id, group_id) VALUES(0, 5);
INSERT INTO customers_to_groups(customer_id, group_id) VALUES(1, 1);
INSERT INTO customers_to_groups(customer_id, group_id) VALUES(1, 7);
INSERT INTO customers_to_groups(customer_id, group_id) VALUES(2, 1);
INSERT INTO customers_to_groups(customer_id, group_id) VALUES(3, 3);
INSERT INTO customers_to_groups(customer_id, group_id) VALUES(3, 5);
INSERT INTO customers_to_groups(customer_id, group_id) VALUES(3, 7);

I need to get customers that have specific groups they are part of, and I need to get a list of all customers that are part of at least 1 group in multiple lists of group. For example I want to get all customers that are in group [5 OR 6] AND [1 OR 3], so for example a customer in group 5 and 1 wold be a returned, but somebody in 1 and 7 or just 1 not. With the provided sample data we would get the customer of id 0 and 3 only as they conform to the given rules above.

Just doing WHERE group_id IN (5,6) AND group_id IN (1,3) does not seem to work, so I am looking for alternative.

I got this so far that works:

SELECT DISTINCT c.id
FROM customer c
INNER JOIN customers_to_groups at1 ON c.id = at1.customer_id
INNER JOIN customers_to_groups at2 ON c.id = at2.customer_id
WHERE at1.group_id IN (5, 6)
  AND at2.group_id IN (1, 3);

Expected Results:

Is there a way to do it that is more performant?