SELECT 
  cscart_products_categories.product_id, 
  GROUP_CONCAT(
    IF(
      cscart_products_categories.link_type = "M", 
      CONCAT(
        cscart_products_categories.category_id, 
        "M"
      ), 
      cscart_products_categories.category_id
    )
  ) AS category_ids, 
  product_position_source.position AS position 
FROM 
  cscart_products_categories 
  INNER JOIN cscart_categories ON cscart_categories.category_id = cscart_products_categories.category_id 
  AND cscart_categories.storefront_id IN (0, 1) 
  AND (
    cscart_categories.usergroup_ids = '' 
    OR FIND_IN_SET(
      0, cscart_categories.usergroup_ids
    ) 
    OR FIND_IN_SET(
      1, cscart_categories.usergroup_ids
    )
  ) 
  AND cscart_categories.status IN ('A', 'H') 
  LEFT JOIN cscart_products_categories AS product_position_source ON cscart_products_categories.product_id = product_position_source.product_id 
  AND product_position_source.category_id = 7165 
WHERE 
  cscart_products_categories.product_id IN (
    90788, 90790, 90789, 90791, 90784, 90786, 
    90774, 90772, 90785, 90787, 90780, 
    90782, 90775, 87367, 90781, 90783, 
    90773, 90776, 90778, 87366, 87365, 
    90777, 90779, 87354, 90770, 87364, 
    82550, 90768, 87352, 87353, 90771, 
    87358, 87378, 82548, 90769, 87380, 
    87357, 87376, 87377, 90766, 90767, 
    87374, 90150, 90165, 87379, 84073, 
    84081, 82509, 87373, 82508, 90149, 
    90164, 90764, 90765, 90142, 90157, 
    90762, 90763, 90148, 90163, 82531, 
    87369, 84072, 84080, 82541, 90759, 
    90147, 90162, 82440, 87368, 87363, 
    84071, 84079, 84095, 90141, 90156, 
    90297, 90304, 82539, 82530, 84057, 
    84065, 82439, 82549, 87362, 84070, 
    84078, 90758, 90760, 90761, 85973, 
    87361, 87356, 84069, 84077, 82540
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01887

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "130.31"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "6.34"
      },
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "ALL",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "p_category_id"
            ],
            "rows_examined_per_scan": 208,
            "rows_produced_per_join": 8,
            "filtered": "4.00",
            "cost_info": {
              "read_cost": "20.72",
              "eval_cost": "0.83",
              "prefix_cost": "21.55",
              "data_read_per_join": "21K"
            },
            "used_columns": [
              "category_id",
              "usergroup_ids",
              "status",
              "storefront_id"
            ],
            "attached_condition": "((`nuie_scalesta_net`.`cscart_categories`.`storefront_id` in (0,1)) and ((`nuie_scalesta_net`.`cscart_categories`.`usergroup_ids` = '') or (0 <> find_in_set(0,`nuie_scalesta_net`.`cscart_categories`.`usergroup_ids`)) or (0 <> find_in_set(1,`nuie_scalesta_net`.`cscart_categories`.`usergroup_ids`))) and (`nuie_scalesta_net`.`cscart_categories`.`status` in ('A','H')))"
          }
        },
        {
          "table": {
            "table_name": "cscart_products_categories",
            "access_type": "ref",
            "possible_keys": [
              "PRIMARY",
              "link_type",
              "pt"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id"
            ],
            "key_length": "3",
            "ref": [
              "nuie_scalesta_net.cscart_categories.category_id"
            ],
            "rows_examined_per_scan": 117,
            "rows_produced_per_join": 6,
            "filtered": "0.65",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.63",
              "prefix_cost": "121.75",
              "data_read_per_join": "101"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (90788,90790,90789,90791,90784,90786,90774,90772,90785,90787,90780,90782,90775,87367,90781,90783,90773,90776,90778,87366,87365,90777,90779,87354,90770,87364,82550,90768,87352,87353,90771,87358,87378,82548,90769,87380,87357,87376,87377,90766,90767,87374,90150,90165,87379,84073,84081,82509,87373,82508,90149,90164,90764,90765,90142,90157,90762,90763,90148,90163,82531,87369,84072,84080,82541,90759,90147,90162,82440,87368,87363,84071,84079,84095,90141,90156,90297,90304,82539,82530,84057,84065,82439,82549,87362,84070,84078,90758,90760,90761,85973,87361,87356,84069,84077,82540))"
          }
        },
        {
          "table": {
            "table_name": "product_position_source",
            "access_type": "eq_ref",
            "possible_keys": [
              "PRIMARY",
              "pt"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id",
              "product_id"
            ],
            "key_length": "6",
            "ref": [
              "const",
              "nuie_scalesta_net.cscart_products_categories.product_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 6,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.58",
              "eval_cost": "0.63",
              "prefix_cost": "123.97",
              "data_read_per_join": "101"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}