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 (
    94273, 94274, 94275, 94276, 94277, 94278, 
    94279, 94280, 94281, 94282, 94283, 
    94284, 94285, 94286, 94287, 94288, 
    94289, 94290, 94291, 94292, 94293, 
    94294, 94295, 94296, 94297, 94298, 
    94299, 94300, 94301, 94302, 94303, 
    94304, 94305, 94306, 94307, 94308, 
    94309, 94310, 94311, 94312, 94313, 
    94314, 94315, 94316, 94317, 94318, 
    94319, 94320, 94321, 94322, 94323, 
    94324, 94325, 94326, 94327, 94328, 
    94329, 94330, 94331, 94332, 94958, 
    95034, 95096, 95097, 95098, 95099, 
    95683, 95702, 95703, 96193, 96194, 
    96841, 96917, 96918, 96919, 96981, 
    96982, 96983, 96984, 96998, 98538, 
    98539, 98540, 98541, 98542, 98543, 
    98544, 98545, 98546, 98547, 98548, 
    98549, 100923, 100924, 100925, 100926
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01625

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "129.20"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "5.52"
      },
      "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": 5,
            "filtered": "0.56",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.55",
              "prefix_cost": "121.75",
              "data_read_per_join": "88"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (94273,94274,94275,94276,94277,94278,94279,94280,94281,94282,94283,94284,94285,94286,94287,94288,94289,94290,94291,94292,94293,94294,94295,94296,94297,94298,94299,94300,94301,94302,94303,94304,94305,94306,94307,94308,94309,94310,94311,94312,94313,94314,94315,94316,94317,94318,94319,94320,94321,94322,94323,94324,94325,94326,94327,94328,94329,94330,94331,94332,94958,95034,95096,95097,95098,95099,95683,95702,95703,96193,96194,96841,96917,96918,96919,96981,96982,96983,96984,96998,98538,98539,98540,98541,98542,98543,98544,98545,98546,98547,98548,98549,100923,100924,100925,100926))"
          }
        },
        {
          "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": 5,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.38",
              "eval_cost": "0.55",
              "prefix_cost": "123.68",
              "data_read_per_join": "88"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}