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 = 7199 
WHERE 
  cscart_products_categories.product_id IN (
    84911, 87981, 84687, 84709, 88027, 88024, 
    84708, 84749, 88042, 87974, 84271, 
    87991, 87966, 84270, 88033, 88007, 
    84269, 93150, 93154, 93156, 93789, 
    93795, 94448, 94804, 94805, 94806, 
    94809, 94832, 95753, 95786, 95788, 
    95885, 95886, 95887, 95888, 96117, 
    96118, 96176, 98036, 98037, 98038, 
    98229, 98233, 98325, 98882, 98883, 
    98884, 98885, 99136, 99145, 99153, 
    99154, 99158, 99167, 99181, 99185, 
    99187, 99202, 99205, 99212, 99220, 
    100386, 100387, 100434
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00164

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "57.88"
    },
    "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": 64,
            "rows_produced_per_join": 64,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "6.68",
              "eval_cost": "6.40",
              "prefix_cost": "13.08",
              "data_read_per_join": "1024"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (84911,87981,84687,84709,88027,88024,84708,84749,88042,87974,84271,87991,87966,84270,88033,88007,84269,93150,93154,93156,93789,93795,94448,94804,94805,94806,94809,94832,95753,95786,95788,95885,95886,95887,95888,96117,96118,96176,98036,98037,98038,98229,98233,98325,98882,98883,98884,98885,99136,99145,99153,99154,99158,99167,99181,99185,99187,99202,99205,99212,99220,100386,100387,100434))"
          }
        },
        {
          "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": 64,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "16.00",
              "eval_cost": "6.40",
              "prefix_cost": "35.48",
              "data_read_per_join": "1024"
            },
            "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": 3,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "16.00",
              "eval_cost": "0.32",
              "prefix_cost": "57.88",
              "data_read_per_join": "8K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}