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 = 7238 
WHERE 
  cscart_products_categories.product_id IN (
    89721, 86874, 86872, 86875, 86883, 86870, 
    86868, 86871, 86873, 86869, 86881, 
    86878, 86879, 89720, 86876, 86886, 
    89719, 89722, 86877, 86882, 86884, 
    86885, 89579, 89581, 89583, 89585, 
    89587, 89578, 89580, 89582, 89584, 
    89586, 89588, 89577, 85567, 89576, 
    94024, 94025, 94429, 94430, 94431, 
    94432, 94433, 94434, 94441, 95100, 
    95558, 95559, 95560, 95638, 95640, 
    95645, 95646, 95653, 95790, 95933, 
    95936, 95940, 96522, 96523, 96524, 
    96525, 96526, 96527, 96528, 96677, 
    96679, 96684, 96685, 96693, 98445, 
    98682, 99507, 99511, 99515, 100361, 
    100362, 100363, 100364, 100365, 100366, 
    100367, 100368, 100369, 100370, 100371, 
    100372, 100373, 100384, 100385, 101047, 
    101048, 101049, 101050, 101051, 101052
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.02402

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 (89721,86874,86872,86875,86883,86870,86868,86871,86873,86869,86881,86878,86879,89720,86876,86886,89719,89722,86877,86882,86884,86885,89579,89581,89583,89585,89587,89578,89580,89582,89584,89586,89588,89577,85567,89576,94024,94025,94429,94430,94431,94432,94433,94434,94441,95100,95558,95559,95560,95638,95640,95645,95646,95653,95790,95933,95936,95940,96522,96523,96524,96525,96526,96527,96528,96677,96679,96684,96685,96693,98445,98682,99507,99511,99515,100361,100362,100363,100364,100365,100366,100367,100368,100369,100370,100371,100372,100373,100384,100385,101047,101048,101049,101050,101051,101052))"
          }
        },
        {
          "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')))"
          }
        }
      ]
    }
  }
}