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 = 7176 
WHERE 
  cscart_products_categories.product_id IN (
    87354, 87352, 87353, 87378, 87376, 87377, 
    87374, 82509, 87373, 82508, 82537, 
    82547, 91482, 82532, 82545, 82546, 
    89571, 82544, 89569, 92584, 92585, 
    92586, 92590, 92591, 92592, 93951, 
    93952, 93953, 93954, 93955, 93956, 
    94838, 95004, 95005, 95006, 95007, 
    95008, 95009, 95046, 95047, 95048, 
    95057, 95058, 95059, 95060, 95061, 
    95062, 95066, 95067, 95068, 95328, 
    95329, 95330, 95344, 95345, 95346, 
    95349, 95352, 95358, 95359, 95452, 
    95536, 95537, 95538, 95539, 95540, 
    95541, 95552, 95553, 95554, 96177, 
    96178, 96179, 96180, 96191, 96192, 
    96828, 96829, 96830, 96831, 96834, 
    96835, 96836, 96837, 96838, 96887, 
    96888, 96889, 96890, 96891, 96892, 
    96931, 96932, 96933, 96942, 96943
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01626

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "90.30"
    },
    "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": 100,
            "rows_produced_per_join": 100,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "10.30",
              "eval_cost": "10.00",
              "prefix_cost": "20.30",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (87354,87352,87353,87378,87376,87377,87374,82509,87373,82508,82537,82547,91482,82532,82545,82546,89571,82544,89569,92584,92585,92586,92590,92591,92592,93951,93952,93953,93954,93955,93956,94838,95004,95005,95006,95007,95008,95009,95046,95047,95048,95057,95058,95059,95060,95061,95062,95066,95067,95068,95328,95329,95330,95344,95345,95346,95349,95352,95358,95359,95452,95536,95537,95538,95539,95540,95541,95552,95553,95554,96177,96178,96179,96180,96191,96192,96828,96829,96830,96831,96834,96835,96836,96837,96838,96887,96888,96889,96890,96891,96892,96931,96932,96933,96942,96943))"
          }
        },
        {
          "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": 100,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "25.00",
              "eval_cost": "10.00",
              "prefix_cost": "55.30",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        },
        {
          "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": 5,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "25.00",
              "eval_cost": "0.50",
              "prefix_cost": "90.30",
              "data_read_per_join": "13K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}