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 = 7336 
WHERE 
  cscart_products_categories.product_id IN (
    92255, 92256, 92257, 92496, 92497, 92498, 
    92499, 92254, 92512, 92520, 92522, 
    84280, 84285, 84288, 84954, 84048, 
    92515, 92516, 92519, 84278, 84279, 
    84283, 84284, 84287, 92510, 92517, 
    92521, 84956, 92550, 92509, 92511, 
    92518, 84047, 84277, 84282, 92514, 
    92549, 85010, 92542, 92543, 84273, 
    84275, 84955, 84276, 84281, 84286, 
    85011, 92513, 92545, 92546, 92547, 
    92544, 92548, 84272, 84274, 84046, 
    84049, 92541, 91372, 91374, 91371, 
    91373, 91370, 91381, 91383, 91369, 
    91368, 91339, 91344, 91379, 91382, 
    91384, 91351, 91353, 91367, 91338, 
    91343, 91377, 91380, 92489, 92490, 
    92491, 92492, 92493, 92494, 92495, 
    91349, 91352, 91354, 91336, 91341, 
    91378, 91347, 91333, 91350, 91337
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01814

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "132.62"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "8.05"
      },
      "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": 8,
            "filtered": "0.82",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.80",
              "prefix_cost": "121.75",
              "data_read_per_join": "128"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (92255,92256,92257,92496,92497,92498,92499,92254,92512,92520,92522,84280,84285,84288,84954,84048,92515,92516,92519,84278,84279,84283,84284,84287,92510,92517,92521,84956,92550,92509,92511,92518,84047,84277,84282,92514,92549,85010,92542,92543,84273,84275,84955,84276,84281,84286,85011,92513,92545,92546,92547,92544,92548,84272,84274,84046,84049,92541,91372,91374,91371,91373,91370,91381,91383,91369,91368,91339,91344,91379,91382,91384,91351,91353,91367,91338,91343,91377,91380,92489,92490,92491,92492,92493,92494,92495,91349,91352,91354,91336,91341,91378,91347,91333,91350,91337))"
          }
        },
        {
          "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": 8,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.01",
              "eval_cost": "0.80",
              "prefix_cost": "124.57",
              "data_read_per_join": "128"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}