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 = 7174 
WHERE 
  cscart_products_categories.product_id IN (
    87419, 87417, 82438, 87418, 82437, 87416, 
    87415, 87414, 87413, 87412, 82499, 
    91473, 82497, 91472, 82495, 91471, 
    82498, 82493, 82496, 89539, 82494, 
    89540, 82492, 89538, 92569, 92570, 
    92571, 92572, 92573, 92574, 95035, 
    95036, 95037, 95038, 95039, 95040, 
    95041, 95042, 95043, 95044, 95045, 
    95049, 95050, 95051, 95052, 95053, 
    95054, 95055, 95056, 95333, 95334, 
    95335, 95336, 95337, 95338, 95339, 
    95340, 95343, 95347, 95348, 95350, 
    95351, 95353, 95354, 95355, 95514, 
    95515, 95516, 95520, 95521, 95522, 
    95530, 95531, 95532, 95546, 95547, 
    95548, 96190, 96783, 96784, 96807, 
    96808, 96809, 96810, 96811, 96812, 
    96813, 96814, 96815, 96816, 96920, 
    96921, 96922, 96923, 96924, 96925
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.02009

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 (87419,87417,82438,87418,82437,87416,87415,87414,87413,87412,82499,91473,82497,91472,82495,91471,82498,82493,82496,89539,82494,89540,82492,89538,92569,92570,92571,92572,92573,92574,95035,95036,95037,95038,95039,95040,95041,95042,95043,95044,95045,95049,95050,95051,95052,95053,95054,95055,95056,95333,95334,95335,95336,95337,95338,95339,95340,95343,95347,95348,95350,95351,95353,95354,95355,95514,95515,95516,95520,95521,95522,95530,95531,95532,95546,95547,95548,96190,96783,96784,96807,96808,96809,96810,96811,96812,96813,96814,96815,96816,96920,96921,96922,96923,96924,96925))"
          }
        },
        {
          "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')))"
          }
        }
      ]
    }
  }
}