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 (
    90287, 90176, 90192, 90309, 90236, 90241, 
    85960, 90235, 90240, 90225, 90183, 
    90234, 90239, 90224, 90199, 90173, 
    90308, 90223, 90278, 90286, 90198, 
    90222, 90221, 90197, 90205, 90216, 
    90220, 90191, 90277, 91538, 91539, 
    90210, 90233, 91536, 91537, 90190, 
    90182, 90172, 90276, 90204, 90215, 
    90209, 90232, 90196, 82561, 90189, 
    90268, 90264, 90266, 90273, 91311, 
    91313, 91315, 90267, 90274, 85649, 
    85650, 85651, 91312, 91314, 91316, 
    90263, 90270, 90269, 90275, 90265, 
    93356, 93357, 93358, 94081, 94082, 
    94085, 94088, 94089, 94090, 94093, 
    94095, 94096, 94097, 94098, 94099, 
    94116, 94117, 94118, 94165, 94166, 
    94167, 94168, 94169, 94170, 94171, 
    94172, 94173, 94174, 94175, 94176
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01599

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "132.51"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "7.97"
      },
      "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": "0.81",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.80",
              "prefix_cost": "121.75",
              "data_read_per_join": "127"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (90287,90176,90192,90309,90236,90241,85960,90235,90240,90225,90183,90234,90239,90224,90199,90173,90308,90223,90278,90286,90198,90222,90221,90197,90205,90216,90220,90191,90277,91538,91539,90210,90233,91536,91537,90190,90182,90172,90276,90204,90215,90209,90232,90196,82561,90189,90268,90264,90266,90273,91311,91313,91315,90267,90274,85649,85650,85651,91312,91314,91316,90263,90270,90269,90275,90265,93356,93357,93358,94081,94082,94085,94088,94089,94090,94093,94095,94096,94097,94098,94099,94116,94117,94118,94165,94166,94167,94168,94169,94170,94171,94172,94173,94174,94175,94176))"
          }
        },
        {
          "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": "1.99",
              "eval_cost": "0.80",
              "prefix_cost": "124.54",
              "data_read_per_join": "127"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}