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 = 7198 
WHERE 
  cscart_products_categories.product_id IN (
    91061, 84716, 88063, 84738, 92171, 84726, 
    84742, 91063, 91062, 91057, 84935, 
    91060, 91055, 91058, 84858, 92175, 
    91056, 84740, 91059, 84942, 84934, 
    92167, 84737, 84739, 84725, 87980, 
    87983, 84741, 87984, 87970, 88023, 
    84947, 88032, 84848, 87985, 84912, 
    84736, 84688, 87979, 84960, 87976, 
    87978, 84850, 84743, 84849, 84951, 
    84747, 84761, 84911, 84717, 87969, 
    87967, 88038, 84846, 84910, 87981, 
    87982, 85274, 84687, 84709, 87977, 
    88027, 88089, 88024, 87968, 88022, 
    84708, 84749, 88042, 87974, 84271, 
    87991, 87966, 88017, 88039, 91064, 
    84270, 88033, 88007, 84269, 88016, 
    93150, 93151, 93152, 93153, 93154, 
    93155, 93156, 93157, 93158, 93159, 
    93789, 93795, 93796, 93797, 94448
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01627

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "86.69"
    },
    "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 (91061,84716,88063,84738,92171,84726,84742,91063,91062,91057,84935,91060,91055,91058,84858,92175,91056,84740,91059,84942,84934,92167,84737,84739,84725,87980,87983,84741,87984,87970,88023,84947,88032,84848,87985,84912,84736,84688,87979,84960,87976,87978,84850,84743,84849,84951,84747,84761,84911,84717,87969,87967,88038,84846,84910,87981,87982,85274,84687,84709,87977,88027,88089,88024,87968,88022,84708,84749,88042,87974,84271,87991,87966,88017,88039,91064,84270,88033,88007,84269,88016,93150,93151,93152,93153,93154,93155,93156,93157,93158,93159,93789,93795,93796,93797,94448))"
          }
        },
        {
          "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": 96,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "24.00",
              "eval_cost": "9.60",
              "prefix_cost": "53.09",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        },
        {
          "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": "86.69",
              "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')))"
          }
        }
      ]
    }
  }
}