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 = 7212 
WHERE 
  cscart_products_categories.product_id IN (
    87185, 87202, 87219, 90802, 87186, 87203, 
    87220, 90803, 87183, 87200, 87217, 
    90800, 87181, 87198, 87215, 90798, 
    87184, 87201, 87218, 90801, 85014, 
    85020, 85026, 85032, 87182, 87199, 
    87216, 90799, 87180, 87197, 87214, 
    85013, 85019, 85025, 85031, 89449, 
    89462, 89470, 89478, 89446, 88982, 
    88999, 88988, 89448, 89461, 89469, 
    89477, 89445, 88981, 88998, 88987, 
    89964, 90838, 90840, 87450, 88503, 
    89022, 88169, 88217, 87453, 88502, 
    90836, 87505, 87521, 88454, 88471, 
    88487, 89021, 87537, 88422, 89839, 
    89891, 89963, 88523, 85722, 85739, 
    85749, 85759, 88193, 88205, 88980, 
    88997, 88495, 85719, 87506, 87522, 
    88453, 88470, 88486, 89837, 89889, 
    89961, 88522, 88986, 88168, 88216
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01761

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "136.87"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "11.20"
      },
      "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": 11,
            "filtered": "1.14",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.12",
              "prefix_cost": "121.75",
              "data_read_per_join": "179"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (87185,87202,87219,90802,87186,87203,87220,90803,87183,87200,87217,90800,87181,87198,87215,90798,87184,87201,87218,90801,85014,85020,85026,85032,87182,87199,87216,90799,87180,87197,87214,85013,85019,85025,85031,89449,89462,89470,89478,89446,88982,88999,88988,89448,89461,89469,89477,89445,88981,88998,88987,89964,90838,90840,87450,88503,89022,88169,88217,87453,88502,90836,87505,87521,88454,88471,88487,89021,87537,88422,89839,89891,89963,88523,85722,85739,85749,85759,88193,88205,88980,88997,88495,85719,87506,87522,88453,88470,88486,89837,89889,89961,88522,88986,88168,88216))"
          }
        },
        {
          "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": 11,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.80",
              "eval_cost": "1.12",
              "prefix_cost": "125.67",
              "data_read_per_join": "179"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}