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 = 7322 
WHERE 
  cscart_products_categories.product_id IN (
    85896, 85897, 85902, 85884, 85903, 85885, 
    85899, 85890, 85898, 85891, 85905, 
    85887, 85904, 85886, 85893, 85895, 
    85892, 85901, 85883, 85889, 85879, 
    85880, 85874, 85875, 85881, 85876, 
    85878, 85873, 85877, 85872, 85914, 
    85915, 85919, 85946, 85947, 85912, 
    85945, 85926, 85923, 85928, 85921, 
    85943, 85944, 85942, 85937, 85938, 
    85936, 85934, 85935, 85940, 85941, 
    85933, 85939, 85959, 85957, 85931, 
    85932, 85930, 85954, 85953, 85950, 
    85951, 85948, 85909, 84692, 85910, 
    85911, 84957, 85906, 85907, 84852, 
    84751, 87975, 85908, 84753, 84860, 
    84863, 92922, 92923, 92924, 92925, 
    92926, 92927, 92928, 92929, 92930, 
    92931, 92932, 92933
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01723

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "130.04"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "6.14"
      },
      "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": "0.63",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.61",
              "prefix_cost": "121.75",
              "data_read_per_join": "98"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (85896,85897,85902,85884,85903,85885,85899,85890,85898,85891,85905,85887,85904,85886,85893,85895,85892,85901,85883,85889,85879,85880,85874,85875,85881,85876,85878,85873,85877,85872,85914,85915,85919,85946,85947,85912,85945,85926,85923,85928,85921,85943,85944,85942,85937,85938,85936,85934,85935,85940,85941,85933,85939,85959,85957,85931,85932,85930,85954,85953,85950,85951,85948,85909,84692,85910,85911,84957,85906,85907,84852,84751,87975,85908,84753,84860,84863,92922,92923,92924,92925,92926,92927,92928,92929,92930,92931,92932,92933))"
          }
        },
        {
          "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": "1.54",
              "eval_cost": "0.61",
              "prefix_cost": "123.90",
              "data_read_per_join": "98"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}