First, your query should look like this:
SELECT
rua.reg_users_ads_id, rua.year, make, model, rua.trim, rua.price, rua.exterior_color, rua.transmission, rua.mileage, rua.zipcode
FROM reg_users_ads AS rua
INNER JOIN atrMakes AS ma ON ( rua.atrMakesID = ma.atrMakesID AND ma.atrMakesID = '65' )
INNER JOIN atrModels AS mo ON ( rua.atrModelsID = mo.atrModelsID AND mo.atrModelsID = '712' )
WHERE rua.zipcode IN ('75023','76888','76888','76888','78722') AND status = 'active';
You should always specify a table prefix ... like for zipcode and status (the latter of which I can't even guess.
But I get the feeling you have no indexes.