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 = 7153 
WHERE 
  cscart_products_categories.product_id IN (
    91627, 83923, 82422, 89379, 89394, 89396, 
    89343, 89385, 89375, 89376, 89381, 
    89289, 89390, 89392, 89344, 89382, 
    89388, 89380, 89395, 89397, 89410, 
    89411, 89412, 82423, 89341, 89290, 
    91945, 91946, 91947, 91948, 91949, 
    91950, 91951, 89360, 89286, 89387, 
    89342, 89363, 89377, 89365, 89359, 
    89288, 89386, 89383, 89297, 89362, 
    89364, 89378, 82371, 89296, 89391, 
    89393, 89406, 89408, 89407, 90843, 
    89302, 89384, 89389, 89300, 89301, 
    89299, 89349, 89350, 89263, 89340, 
    82450, 82451, 89339, 89353, 89354, 
    82449, 89355, 89356, 89284, 89293, 
    91944, 89291, 89262, 89285, 82353, 
    89292, 82352, 89287, 89357, 89358, 
    82386, 89402, 89404, 89403, 89295, 
    89294, 89405, 89257, 82385, 89345
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.02817

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "141.33"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "14.50"
      },
      "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": "1.48",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.45",
              "prefix_cost": "121.75",
              "data_read_per_join": "232"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (91627,83923,82422,89379,89394,89396,89343,89385,89375,89376,89381,89289,89390,89392,89344,89382,89388,89380,89395,89397,89410,89411,89412,82423,89341,89290,91945,91946,91947,91948,91949,91950,91951,89360,89286,89387,89342,89363,89377,89365,89359,89288,89386,89383,89297,89362,89364,89378,82371,89296,89391,89393,89406,89408,89407,90843,89302,89384,89389,89300,89301,89299,89349,89350,89263,89340,82450,82451,89339,89353,89354,82449,89355,89356,89284,89293,91944,89291,89262,89285,82353,89292,82352,89287,89357,89358,82386,89402,89404,89403,89295,89294,89405,89257,82385,89345))"
          }
        },
        {
          "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": "3.63",
              "eval_cost": "1.45",
              "prefix_cost": "126.83",
              "data_read_per_join": "232"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}