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 = 7207 
WHERE 
  cscart_products_categories.product_id IN (
    86011, 86012, 86014, 86015, 86017, 86018, 
    86019, 86020, 86021, 86022, 86023, 
    86024, 86025, 86026, 86027, 86028, 
    86029, 86030, 86031, 86032, 86033, 
    86034, 86035, 86036, 86037, 86038, 
    86039, 86040, 86041, 86042, 86043, 
    86044, 86045, 86046, 86047, 86048, 
    86049, 86050, 86051, 86052, 86053, 
    86054, 86055, 86056, 86057, 86058, 
    86059, 86060, 86062, 86064, 86065, 
    86066, 86068, 85040, 85041, 92893, 
    92894, 93002, 93003, 93004, 93005, 
    93006, 93007, 93008, 93009, 93010, 
    93011, 93012, 93013, 93014, 93015, 
    93341, 93342, 93343, 93344, 93345, 
    93346, 93347, 93348, 93349, 93350, 
    93351, 93352, 93353, 93354, 93355, 
    93750, 93751, 93752, 93848, 93849, 
    93886, 93887, 93888, 93889, 93890
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00718

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "138.91"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "12.71"
      },
      "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": "1.27",
              "prefix_cost": "121.75",
              "data_read_per_join": "203"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (86011,86012,86014,86015,86017,86018,86019,86020,86021,86022,86023,86024,86025,86026,86027,86028,86029,86030,86031,86032,86033,86034,86035,86036,86037,86038,86039,86040,86041,86042,86043,86044,86045,86046,86047,86048,86049,86050,86051,86052,86053,86054,86055,86056,86057,86058,86059,86060,86062,86064,86065,86066,86068,85040,85041,92893,92894,93002,93003,93004,93005,93006,93007,93008,93009,93010,93011,93012,93013,93014,93015,93341,93342,93343,93344,93345,93346,93347,93348,93349,93350,93351,93352,93353,93354,93355,93750,93751,93752,93848,93849,93886,93887,93888,93889,93890))"
          }
        },
        {
          "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": "3.18",
              "eval_cost": "1.27",
              "prefix_cost": "126.20",
              "data_read_per_join": "203"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}