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 = 7161 
WHERE 
  cscart_products_categories.product_id IN (
    91978, 91981, 82563, 82567, 82571, 91977, 
    91979, 91980, 91982, 91983, 82556, 
    91970, 91973, 91985, 91986, 91987, 
    91988, 91989, 91990, 91991, 91969, 
    91971, 91972, 91974, 91975, 82557, 
    82369, 82560, 82565, 82569, 82573, 
    82562, 82566, 82570, 91968, 82555, 
    82553, 82554, 82559, 82552, 82564, 
    82568, 82572, 91976, 91984, 82558, 
    92593, 92594, 92595, 92596, 94707, 
    94708, 96739, 96985, 96986, 96987, 
    96988, 96989, 96990, 96991, 96992, 
    96993, 96994, 96995, 96996, 96997, 
    96999, 97000, 97001, 97002, 97003, 
    97004, 97005, 97006, 97007, 97008, 
    97009, 97010, 97831, 97832, 98290, 
    98291, 98292, 98293, 98294, 98295, 
    98296, 98297, 98298, 98299, 98300, 
    98301, 98302, 98303, 98304, 98305
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01313

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "131.83"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "7.46"
      },
      "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": "0.76",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.75",
              "prefix_cost": "121.75",
              "data_read_per_join": "119"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (91978,91981,82563,82567,82571,91977,91979,91980,91982,91983,82556,91970,91973,91985,91986,91987,91988,91989,91990,91991,91969,91971,91972,91974,91975,82557,82369,82560,82565,82569,82573,82562,82566,82570,91968,82555,82553,82554,82559,82552,82564,82568,82572,91976,91984,82558,92593,92594,92595,92596,94707,94708,96739,96985,96986,96987,96988,96989,96990,96991,96992,96993,96994,96995,96996,96997,96999,97000,97001,97002,97003,97004,97005,97006,97007,97008,97009,97010,97831,97832,98290,98291,98292,98293,98294,98295,98296,98297,98298,98299,98300,98301,98302,98303,98304,98305))"
          }
        },
        {
          "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": "1.87",
              "eval_cost": "0.75",
              "prefix_cost": "124.36",
              "data_read_per_join": "119"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}