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 = 7337 
WHERE 
  cscart_products_categories.product_id IN (
    91372, 91374, 91371, 91373, 91370, 91381, 
    91383, 91369, 91368, 91339, 91344, 
    91379, 91382, 91384, 91351, 91353, 
    91367, 91338, 91343, 91377, 91380, 
    91349, 91352, 91354, 91336, 91341, 
    91378, 91347, 91333, 91350, 91337, 
    91342, 91348, 91335, 91340, 91332, 
    91361, 91363, 91391, 91393, 91362, 
    91364, 91392, 91394, 91359, 91389, 
    86828, 91331, 91360, 91357, 91387, 
    91358, 91390, 91388, 96213, 96214, 
    96215, 96216, 96217, 96218, 96219, 
    96220, 96221, 96222, 96223, 96224, 
    96225, 96226, 96227, 96228, 96229, 
    96230, 96231, 96232, 96233, 96234, 
    96235, 96236, 96237, 96238, 96239, 
    96240, 96241, 96242, 96243, 96244, 
    96334, 96336, 96338, 96340, 98722, 
    98723, 98724, 98725, 98726, 98727
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01200

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "131.83"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "7.46"
      },
      "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": 7,
            "filtered": "0.76",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.75",
              "prefix_cost": "121.75",
              "data_read_per_join": "119"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (91372,91374,91371,91373,91370,91381,91383,91369,91368,91339,91344,91379,91382,91384,91351,91353,91367,91338,91343,91377,91380,91349,91352,91354,91336,91341,91378,91347,91333,91350,91337,91342,91348,91335,91340,91332,91361,91363,91391,91393,91362,91364,91392,91394,91359,91389,86828,91331,91360,91357,91387,91358,91390,91388,96213,96214,96215,96216,96217,96218,96219,96220,96221,96222,96223,96224,96225,96226,96227,96228,96229,96230,96231,96232,96233,96234,96235,96236,96237,96238,96239,96240,96241,96242,96243,96244,96334,96336,96338,96340,98722,98723,98724,98725,98726,98727))"
          }
        },
        {
          "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": 7,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.87",
              "eval_cost": "0.75",
              "prefix_cost": "124.36",
              "data_read_per_join": "119"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}