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 = 7191 
WHERE 
  cscart_products_categories.product_id IN (
    87026, 87051, 87086, 87109, 83576, 83578, 
    90583, 90584, 90915, 90917, 90994, 
    90996, 91396, 91398, 91400, 91402, 
    91404, 91406, 91408, 91410, 91412, 
    91414, 91416, 91418, 91009, 91021, 
    91033, 91046, 89495, 89496, 89503, 
    89504, 89511, 89512, 89519, 89520, 
    86903, 86928, 86964, 86989, 87025, 
    87050, 87108, 90796, 83289, 83291, 
    83296, 83298, 90565, 90566, 90571, 
    90572, 90577, 90578, 91395, 91397, 
    91399, 91401, 91403, 91405, 91407, 
    91409, 91411, 91413, 91415, 91417, 
    83303, 83305, 90553, 90554, 91100, 
    91101, 91104, 91105, 91107, 91108, 
    91109, 91186, 91187, 91190, 91191, 
    91193, 91194, 91195, 91241, 91242, 
    91245, 91246, 91248, 91249, 91250, 
    91076, 91077, 91080, 91081, 91083
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00294

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "110.42"
    },
    "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": 194,
            "rows_produced_per_join": 194,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "19.73",
              "eval_cost": "19.40",
              "prefix_cost": "39.13",
              "data_read_per_join": "3K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (87026,87051,87086,87109,83576,83578,90583,90584,90915,90917,90994,90996,91396,91398,91400,91402,91404,91406,91408,91410,91412,91414,91416,91418,91009,91021,91033,91046,89495,89496,89503,89504,89511,89512,89519,89520,86903,86928,86964,86989,87025,87050,87108,90796,83289,83291,83296,83298,90565,90566,90571,90572,90577,90578,91395,91397,91399,91401,91403,91405,91407,91409,91411,91413,91415,91417,83303,83305,90553,90554,91100,91101,91104,91105,91107,91108,91109,91186,91187,91190,91191,91193,91194,91195,91241,91242,91245,91246,91248,91249,91250,91076,91077,91080,91081,91083))"
          }
        },
        {
          "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": 9,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "48.50",
              "eval_cost": "0.97",
              "prefix_cost": "107.03",
              "data_read_per_join": "25K"
            },
            "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": 9,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.43",
              "eval_cost": "0.97",
              "prefix_cost": "110.43",
              "data_read_per_join": "155"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}