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 = 7166 
WHERE 
  cscart_products_categories.product_id IN (
    90150, 90165, 84073, 84081, 90149, 90164, 
    90142, 90157, 90148, 90163, 84072, 
    84080, 90147, 90162, 84071, 84079, 
    84095, 90141, 90156, 90297, 90304, 
    84057, 84065, 84070, 84078, 85973, 
    84069, 84077, 90140, 90155, 84068, 
    84076, 84094, 90139, 90154, 90296, 
    90303, 83944, 84088, 90203, 90214, 
    84093, 85972, 90153, 90168, 90285, 
    90293, 90295, 90302, 84056, 84064, 
    90152, 90167, 85971, 84067, 84075, 
    84092, 84055, 84063, 85966, 90294, 
    90301, 90131, 90132, 83943, 84087, 
    90250, 90258, 90180, 90181, 90202, 
    90213, 84054, 84062, 90151, 90166, 
    85970, 84091, 90146, 90161, 90300, 
    90307, 84053, 84061, 83942, 84086, 
    90231, 90246, 84066, 84074, 90201, 
    90212, 90137, 90138, 84090, 85969
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01659

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 (90150,90165,84073,84081,90149,90164,90142,90157,90148,90163,84072,84080,90147,90162,84071,84079,84095,90141,90156,90297,90304,84057,84065,84070,84078,85973,84069,84077,90140,90155,84068,84076,84094,90139,90154,90296,90303,83944,84088,90203,90214,84093,85972,90153,90168,90285,90293,90295,90302,84056,84064,90152,90167,85971,84067,84075,84092,84055,84063,85966,90294,90301,90131,90132,83943,84087,90250,90258,90180,90181,90202,90213,84054,84062,90151,90166,85970,84091,90146,90161,90300,90307,84053,84061,83942,84086,90231,90246,84066,84074,90201,90212,90137,90138,84090,85969))"
          }
        },
        {
          "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"
            ]
          }
        }
      ]
    }
  }
}