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 = 7192 
WHERE 
  cscart_products_categories.product_id IN (
    91516, 85126, 86183, 86206, 86507, 86783, 
    89078, 85319, 85416, 85467, 85518, 
    82636, 82637, 83533, 83534, 82854, 
    82927, 83000, 83516, 83524, 85365, 
    89070, 83613, 82830, 82903, 82976, 
    85066, 85067, 85152, 85153, 85198, 
    85199, 85244, 85245, 89773, 89774, 
    86138, 86139, 86161, 86162, 86646, 
    86647, 86715, 86716, 86149, 86172, 
    86186, 86209, 86510, 86665, 86734, 
    86786, 83056, 83605, 90892, 90971, 
    85106, 85107, 89824, 89876, 89948, 
    91514, 83059, 83608, 90895, 90974, 
    85322, 85419, 85470, 85521, 82635, 
    83532, 85065, 85151, 85197, 85243, 
    82838, 82839, 82911, 82912, 82984, 
    82985, 83398, 83399, 83408, 83409, 
    85368, 86137, 86160, 86645, 86714, 
    82857, 82930, 83003, 83519, 83527
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00347

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "55.34"
    },
    "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": 97,
            "rows_produced_per_join": 97,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "10.00",
              "eval_cost": "9.70",
              "prefix_cost": "19.70",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (91516,85126,86183,86206,86507,86783,89078,85319,85416,85467,85518,82636,82637,83533,83534,82854,82927,83000,83516,83524,85365,89070,83613,82830,82903,82976,85066,85067,85152,85153,85198,85199,85244,85245,89773,89774,86138,86139,86161,86162,86646,86647,86715,86716,86149,86172,86186,86209,86510,86665,86734,86786,83056,83605,90892,90971,85106,85107,89824,89876,89948,91514,83059,83608,90895,90974,85322,85419,85470,85521,82635,83532,85065,85151,85197,85243,82838,82839,82911,82912,82984,82985,83398,83399,83408,83409,85368,86137,86160,86645,86714,82857,82930,83003,83519,83527))"
          }
        },
        {
          "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": 4,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "24.25",
              "eval_cost": "0.49",
              "prefix_cost": "53.65",
              "data_read_per_join": "12K"
            },
            "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": "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": 4,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.21",
              "eval_cost": "0.49",
              "prefix_cost": "55.34",
              "data_read_per_join": "77"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}