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 = 7309 
WHERE 
  cscart_products_categories.product_id IN (
    87148, 87149, 87150, 87151, 87152, 87153, 
    87286, 87154, 87155, 87156, 87157, 
    87158, 87159, 87287, 87142, 87143, 
    87144, 87145, 87146, 87147, 87285, 
    87172, 87173, 87174, 87175, 87176, 
    87177, 87160, 87161, 87162, 87163, 
    87164, 87165, 87166, 87167, 87168, 
    87169, 87170, 87171, 87136, 87137, 
    87138, 87139, 87140, 87141, 87284, 
    84701, 88959, 88960, 88962, 85801, 
    85802, 84700, 88961, 85800, 88957, 
    88958, 88942, 88969, 88970, 88973, 
    88974, 88967, 88968, 88971, 88972, 
    88955, 88956, 88953, 88954, 87879, 
    84704, 84707, 91054, 88509, 88513, 
    88950, 88951, 88952, 88142, 88145, 
    87878, 84696, 88938, 84699, 88516, 
    88519, 88940, 84703, 84706, 91053, 
    88941, 88512, 88141, 88144, 88939
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01463

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "141.91"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "14.93"
      },
      "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": 14,
            "filtered": "1.53",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.49",
              "prefix_cost": "121.75",
              "data_read_per_join": "238"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (87148,87149,87150,87151,87152,87153,87286,87154,87155,87156,87157,87158,87159,87287,87142,87143,87144,87145,87146,87147,87285,87172,87173,87174,87175,87176,87177,87160,87161,87162,87163,87164,87165,87166,87167,87168,87169,87170,87171,87136,87137,87138,87139,87140,87141,87284,84701,88959,88960,88962,85801,85802,84700,88961,85800,88957,88958,88942,88969,88970,88973,88974,88967,88968,88971,88972,88955,88956,88953,88954,87879,84704,84707,91054,88509,88513,88950,88951,88952,88142,88145,87878,84696,88938,84699,88516,88519,88940,84703,84706,91053,88941,88512,88141,88144,88939))"
          }
        },
        {
          "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": 14,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "3.73",
              "eval_cost": "1.49",
              "prefix_cost": "126.98",
              "data_read_per_join": "238"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}