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 = 7300 
WHERE 
  cscart_products_categories.product_id IN (
    91986, 91987, 91988, 91989, 91990, 91991, 
    91969, 91971, 91972, 91974, 91975, 
    86810, 82384, 82557, 82369, 82345, 
    82373, 82375, 91952, 82400, 82408, 
    82418, 89590, 89589, 86806, 82344, 
    82560, 82565, 82569, 82573, 82562, 
    82566, 82570, 91968, 82555, 82553, 
    82554, 86232, 86233, 82559, 82552, 
    82564, 82568, 82572, 91976, 91984, 
    86809, 82558, 82413, 86337, 86336, 
    92555, 92558, 92559, 92593, 92594, 
    92595, 92596, 94023, 94449, 94696, 
    94697, 94705, 94706, 94707, 94708, 
    96295, 96298, 96706, 96707, 96708, 
    96709, 96710, 96715, 96717, 96718, 
    96719, 96720, 96724, 96726, 96727, 
    96734, 96735, 96738, 96739, 96740, 
    96741, 96742, 96743, 96748, 96756, 
    96757, 96758, 96759, 96760, 96761
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00670

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "130.31"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "6.34"
      },
      "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": 6,
            "filtered": "0.65",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.63",
              "prefix_cost": "121.75",
              "data_read_per_join": "101"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (91986,91987,91988,91989,91990,91991,91969,91971,91972,91974,91975,86810,82384,82557,82369,82345,82373,82375,91952,82400,82408,82418,89590,89589,86806,82344,82560,82565,82569,82573,82562,82566,82570,91968,82555,82553,82554,86232,86233,82559,82552,82564,82568,82572,91976,91984,86809,82558,82413,86337,86336,92555,92558,92559,92593,92594,92595,92596,94023,94449,94696,94697,94705,94706,94707,94708,96295,96298,96706,96707,96708,96709,96710,96715,96717,96718,96719,96720,96724,96726,96727,96734,96735,96738,96739,96740,96741,96742,96743,96748,96756,96757,96758,96759,96760,96761))"
          }
        },
        {
          "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": 6,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.58",
              "eval_cost": "0.63",
              "prefix_cost": "123.97",
              "data_read_per_join": "101"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}