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 = 7158 
WHERE 
  cscart_products_categories.product_id IN (
    92401, 92402, 92403, 92404, 92405, 92406, 
    92407, 92400, 92417, 92418, 92419, 
    92420, 92421, 92422, 92416, 85647, 
    88094, 88093, 89173, 90321, 90322, 
    92424, 92425, 92426, 92427, 92428, 
    92429, 92431, 92432, 92433, 92434, 
    92435, 92436, 92437, 92438, 87252, 
    87253, 87254, 87255, 87256, 87257, 
    87258, 87259, 88102, 88103, 90325, 
    92409, 92410, 92411, 92412, 92413, 
    92414, 92415, 85599, 92430, 92439, 
    90324, 90326, 85596, 90323, 85598, 
    90329, 90330, 90331, 90333, 90334, 
    90337, 90338, 90339, 90340, 90341, 
    90342, 90345, 90346, 90347, 90348, 
    85590, 85595, 84775, 84779, 84788, 
    84797, 85643, 88070, 88394, 90328, 
    90332, 90335, 90336, 90343, 90344, 
    85586, 87962, 88079, 88084, 90327
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01787

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "131.46"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "7.19"
      },
      "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": 7,
            "filtered": "0.73",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.72",
              "prefix_cost": "121.75",
              "data_read_per_join": "115"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (92401,92402,92403,92404,92405,92406,92407,92400,92417,92418,92419,92420,92421,92422,92416,85647,88094,88093,89173,90321,90322,92424,92425,92426,92427,92428,92429,92431,92432,92433,92434,92435,92436,92437,92438,87252,87253,87254,87255,87256,87257,87258,87259,88102,88103,90325,92409,92410,92411,92412,92413,92414,92415,85599,92430,92439,90324,90326,85596,90323,85598,90329,90330,90331,90333,90334,90337,90338,90339,90340,90341,90342,90345,90346,90347,90348,85590,85595,84775,84779,84788,84797,85643,88070,88394,90328,90332,90335,90336,90343,90344,85586,87962,88079,88084,90327))"
          }
        },
        {
          "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": 7,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.80",
              "eval_cost": "0.72",
              "prefix_cost": "124.27",
              "data_read_per_join": "115"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}