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 = 7201 
WHERE 
  cscart_products_categories.product_id IN (
    87192, 87209, 87226, 87231, 84642, 84510, 
    84576, 84624, 84558, 85015, 85021, 
    85027, 85033, 84312, 84643, 88780, 
    84625, 84511, 84577, 84294, 88778, 
    88779, 89212, 89225, 89238, 88686, 
    88733, 84493, 84559, 88177, 88225, 
    88777, 88684, 88685, 88731, 88732, 
    87454, 88683, 88730, 89038, 85723, 
    85740, 85750, 85760, 88504, 91446, 
    91460, 88201, 88213, 88578, 84313, 
    85720, 87507, 87523, 88455, 88473, 
    88489, 85665, 85685, 85697, 85709, 
    84295, 89106, 89113, 89037, 89450, 
    89463, 89471, 89479, 85661, 88539, 
    88576, 88577, 89447, 88976, 88993, 
    89036, 88575, 89840, 89892, 89965, 
    91531, 88975, 89034, 87540, 89105, 
    88423, 88527, 84771, 84784, 84793, 
    89788, 84766, 93529, 93530, 93531
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00261

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "63.29"
    },
    "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": 111,
            "rows_produced_per_join": 111,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "11.40",
              "eval_cost": "11.10",
              "prefix_cost": "22.50",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (87192,87209,87226,87231,84642,84510,84576,84624,84558,85015,85021,85027,85033,84312,84643,88780,84625,84511,84577,84294,88778,88779,89212,89225,89238,88686,88733,84493,84559,88177,88225,88777,88684,88685,88731,88732,87454,88683,88730,89038,85723,85740,85750,85760,88504,91446,91460,88201,88213,88578,84313,85720,87507,87523,88455,88473,88489,85665,85685,85697,85709,84295,89106,89113,89037,89450,89463,89471,89479,85661,88539,88576,88577,89447,88976,88993,89036,88575,89840,89892,89965,91531,88975,89034,87540,89105,88423,88527,84771,84784,84793,89788,84766,93529,93530,93531))"
          }
        },
        {
          "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": "27.75",
              "eval_cost": "0.56",
              "prefix_cost": "61.35",
              "data_read_per_join": "14K"
            },
            "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": 5,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.39",
              "eval_cost": "0.56",
              "prefix_cost": "63.29",
              "data_read_per_join": "88"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}