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 = 7144 
WHERE 
  cscart_products_categories.product_id IN (
    91905, 91906, 91907, 91908, 91909, 91910, 
    91911, 84268, 89735, 91904, 89435, 
    82417, 86852, 91921, 91922, 91923, 
    91924, 91925, 91926, 91927, 91929, 
    91930, 91931, 91932, 91933, 91934, 
    91935, 89433, 89434, 89441, 82399, 
    86848, 82414, 86855, 84265, 89432, 
    89731, 89439, 82396, 86851, 89440, 
    82416, 86853, 89431, 84263, 84267, 
    83088, 89124, 89128, 89160, 89551, 
    82343, 91290, 84264, 91913, 91914, 
    91915, 91916, 91917, 91918, 91919, 
    82332, 86814, 86844, 89101, 89729, 
    89734, 91286, 82415, 86854, 90093, 
    90103, 90112, 89438, 82398, 86849, 
    89730, 91293, 82340, 82341, 82346, 
    86389, 86391, 89430, 83115, 83125, 
    83134, 89123, 89127, 89159, 89550, 
    83087, 89437, 91289, 84262, 84266
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.02432

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "104.70"
    },
    "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": 116,
            "rows_produced_per_join": 116,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "11.90",
              "eval_cost": "11.60",
              "prefix_cost": "23.50",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (91905,91906,91907,91908,91909,91910,91911,84268,89735,91904,89435,82417,86852,91921,91922,91923,91924,91925,91926,91927,91929,91930,91931,91932,91933,91934,91935,89433,89434,89441,82399,86848,82414,86855,84265,89432,89731,89439,82396,86851,89440,82416,86853,89431,84263,84267,83088,89124,89128,89160,89551,82343,91290,84264,91913,91914,91915,91916,91917,91918,91919,82332,86814,86844,89101,89729,89734,91286,82415,86854,90093,90103,90112,89438,82398,86849,89730,91293,82340,82341,82346,86389,86391,89430,83115,83125,83134,89123,89127,89159,89550,83087,89437,91289,84262,84266))"
          }
        },
        {
          "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": 116,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "29.00",
              "eval_cost": "11.60",
              "prefix_cost": "64.10",
              "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": 5,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "29.00",
              "eval_cost": "0.58",
              "prefix_cost": "104.70",
              "data_read_per_join": "15K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}