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 = 7143 
WHERE 
  cscart_products_categories.product_id IN (
    91627, 83923, 91905, 91906, 91907, 91908, 
    91909, 91910, 91911, 92556, 92557, 
    84268, 89735, 82422, 89379, 89394, 
    89396, 89343, 89385, 89375, 89376, 
    89381, 89289, 89390, 89392, 89344, 
    89382, 89388, 89380, 89395, 89397, 
    89410, 89411, 89412, 82423, 89341, 
    89290, 91945, 91946, 91947, 91948, 
    91949, 91950, 91951, 91904, 82420, 
    89360, 89286, 89387, 89342, 89363, 
    89377, 89365, 82354, 89359, 86235, 
    89435, 89288, 89386, 89383, 89297, 
    82417, 86852, 89362, 89364, 91921, 
    91922, 91923, 91924, 91925, 91926, 
    91927, 91929, 91930, 91931, 91932, 
    91933, 91934, 91935, 89378, 82371, 
    89433, 89434, 89296, 89391, 89393, 
    89406, 89408, 89407, 90843, 82421, 
    89441, 89302, 82399, 86848, 82414
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01665

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "136.03"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "10.57"
      },
      "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": 10,
            "filtered": "1.08",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.06",
              "prefix_cost": "121.75",
              "data_read_per_join": "169"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (91627,83923,91905,91906,91907,91908,91909,91910,91911,92556,92557,84268,89735,82422,89379,89394,89396,89343,89385,89375,89376,89381,89289,89390,89392,89344,89382,89388,89380,89395,89397,89410,89411,89412,82423,89341,89290,91945,91946,91947,91948,91949,91950,91951,91904,82420,89360,89286,89387,89342,89363,89377,89365,82354,89359,86235,89435,89288,89386,89383,89297,82417,86852,89362,89364,91921,91922,91923,91924,91925,91926,91927,91929,91930,91931,91932,91933,91934,91935,89378,82371,89433,89434,89296,89391,89393,89406,89408,89407,90843,82421,89441,89302,82399,86848,82414))"
          }
        },
        {
          "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": 10,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.64",
              "eval_cost": "1.06",
              "prefix_cost": "125.45",
              "data_read_per_join": "169"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}