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 = 7148 
WHERE 
  cscart_products_categories.product_id IN (
    92401, 92402, 92403, 92404, 92405, 92406, 
    92407, 92557, 87148, 87149, 87150, 
    87151, 87152, 87153, 87286, 92400, 
    92417, 92418, 92419, 92420, 92421, 
    92422, 92423, 87154, 87155, 87156, 
    87157, 87158, 87159, 87287, 92169, 
    92170, 92390, 92391, 92392, 92393, 
    92394, 92416, 91945, 91946, 91947, 
    91948, 91949, 91950, 91951, 87142, 
    87143, 87144, 87145, 87146, 87147, 
    87285, 87172, 87173, 87174, 87175, 
    87176, 87177, 87160, 87161, 87162, 
    87163, 87164, 87165, 87166, 87167, 
    87168, 87169, 87170, 87171, 87136, 
    87137, 87138, 87139, 87140, 87141, 
    87284, 82549, 82371, 92255, 92256, 
    92257, 92496, 92497, 92498, 92499, 
    82450, 82451, 82449, 84909, 91944, 
    91550, 91619, 91788, 91789, 91790
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.02512

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "138.76"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "12.60"
      },
      "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": 12,
            "filtered": "1.29",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.26",
              "prefix_cost": "121.75",
              "data_read_per_join": "201"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (92401,92402,92403,92404,92405,92406,92407,92557,87148,87149,87150,87151,87152,87153,87286,92400,92417,92418,92419,92420,92421,92422,92423,87154,87155,87156,87157,87158,87159,87287,92169,92170,92390,92391,92392,92393,92394,92416,91945,91946,91947,91948,91949,91950,91951,87142,87143,87144,87145,87146,87147,87285,87172,87173,87174,87175,87176,87177,87160,87161,87162,87163,87164,87165,87166,87167,87168,87169,87170,87171,87136,87137,87138,87139,87140,87141,87284,82549,82371,92255,92256,92257,92496,92497,92498,92499,82450,82451,82449,84909,91944,91550,91619,91788,91789,91790))"
          }
        },
        {
          "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": 12,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "3.15",
              "eval_cost": "1.26",
              "prefix_cost": "126.16",
              "data_read_per_join": "201"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}