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 = 7157 
WHERE 
  cscart_products_categories.product_id IN (
    100716, 100717, 100718, 100719, 100720, 
    100721, 100722, 100723, 100724, 100725, 
    100726, 100727, 100728, 100729, 100730, 
    100731, 100732, 100733, 100734, 100735, 
    100736, 100737, 100738, 100739, 100740, 
    100741, 100742, 100743, 100744, 100745, 
    100746, 100747, 100748, 100749, 100750, 
    100751, 100752, 100753, 100754, 100755, 
    100756, 100757, 100758, 100759, 100760, 
    100761, 100762, 100763, 100764, 100765, 
    100766, 100767, 100768, 100769, 100770, 
    100771, 100772, 100773, 100774, 100775, 
    100776, 100777, 100778, 100779, 100780, 
    100781, 100782, 100783, 100784, 100785, 
    100786, 100787, 100788, 100841, 100842, 
    100843, 100844, 100845, 100846, 100847, 
    100848, 100856
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01806

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "138.97"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "12.75"
      },
      "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": 12,
            "filtered": "1.30",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.28",
              "prefix_cost": "121.75",
              "data_read_per_join": "204"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (100716,100717,100718,100719,100720,100721,100722,100723,100724,100725,100726,100727,100728,100729,100730,100731,100732,100733,100734,100735,100736,100737,100738,100739,100740,100741,100742,100743,100744,100745,100746,100747,100748,100749,100750,100751,100752,100753,100754,100755,100756,100757,100758,100759,100760,100761,100762,100763,100764,100765,100766,100767,100768,100769,100770,100771,100772,100773,100774,100775,100776,100777,100778,100779,100780,100781,100782,100783,100784,100785,100786,100787,100788,100841,100842,100843,100844,100845,100846,100847,100848,100856))"
          }
        },
        {
          "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": 12,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "3.19",
              "eval_cost": "1.28",
              "prefix_cost": "126.22",
              "data_read_per_join": "204"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}