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 = 7231 
WHERE 
  cscart_products_categories.product_id IN (
    86300, 86326, 86270, 86291, 86299, 86325, 
    86269, 86290, 86292, 86318, 86346, 
    86350, 86256, 86309, 86298, 86324, 
    86311, 86327, 86260, 86308, 86268, 
    86289, 86304, 86317, 86347, 86351, 
    86344, 86348, 86303, 86316, 86254, 
    86306, 86312, 86328, 86345, 86349, 
    86273, 86305, 86296, 86322, 86340, 
    86341, 86266, 86287, 86294, 86320, 
    86264, 86285, 95152, 95153, 95154, 
    95155, 95156, 95157, 95158, 95166, 
    95167, 95169, 95170, 95172, 95174, 
    95175, 95176, 95178, 95180, 95182, 
    95183, 95184, 95185, 95186, 95188, 
    95190, 95191, 95192, 95193, 95194, 
    95196, 95198, 95199, 95200, 95202, 
    95204, 95206, 95207, 95208, 95209, 
    95210, 95211, 95212, 95214, 95216, 
    95217, 95218, 95220, 95221, 95223
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00252

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "54.77"
    },
    "grouping_operation": {
      "using_filesort": false,
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_products_categories",
            "access_type": "range",
            "possible_keys": [
              "PRIMARY",
              "link_type",
              "pt"
            ],
            "key": "pt",
            "used_key_parts": [
              "product_id"
            ],
            "key_length": "3",
            "rows_examined_per_scan": 96,
            "rows_produced_per_join": 96,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "9.89",
              "eval_cost": "9.60",
              "prefix_cost": "19.49",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (86300,86326,86270,86291,86299,86325,86269,86290,86292,86318,86346,86350,86256,86309,86298,86324,86311,86327,86260,86308,86268,86289,86304,86317,86347,86351,86344,86348,86303,86316,86254,86306,86312,86328,86345,86349,86273,86305,86296,86322,86340,86341,86266,86287,86294,86320,86264,86285,95152,95153,95154,95155,95156,95157,95158,95166,95167,95169,95170,95172,95174,95175,95176,95178,95180,95182,95183,95184,95185,95186,95188,95190,95191,95192,95193,95194,95196,95198,95199,95200,95202,95204,95206,95207,95208,95209,95210,95211,95212,95214,95216,95217,95218,95220,95221,95223))"
          }
        },
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "eq_ref",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "p_category_id"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id"
            ],
            "key_length": "3",
            "ref": [
              "nuie_scalesta_net.cscart_products_categories.category_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 4,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "24.00",
              "eval_cost": "0.48",
              "prefix_cost": "53.09",
              "data_read_per_join": "12K"
            },
            "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": "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": 4,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.20",
              "eval_cost": "0.48",
              "prefix_cost": "54.77",
              "data_read_per_join": "76"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}