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 (
    84706, 91053, 88941, 88512, 88141, 88144, 
    88939, 90126, 90129, 84702, 84705, 
    91052, 84697, 84698, 88946, 88947, 
    88948, 88140, 88143, 88508, 87890, 
    88943, 88944, 88945, 84695, 88937, 
    87877, 90124, 90125, 90127, 90128, 
    88515, 88518, 87282, 87290, 88514, 
    88517, 88511, 87876, 88506, 88507, 
    88510, 90828, 90827, 87995, 87882, 
    86861, 87875, 90826, 87881, 87787, 
    87786, 87874, 87792, 87798, 87880, 
    87873, 87785, 87790, 87796, 87789, 
    87795, 87758, 85974, 85975, 85977, 
    85978, 85979, 85980, 85981, 85982, 
    85983, 85984, 85985, 85986, 85987, 
    85988, 85989, 85990, 85991, 85992, 
    85993, 85994, 85995, 85996, 85997, 
    85998, 85999, 86003, 86004, 86005, 
    86006, 86007, 86008, 86009, 86010
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00719

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "137.81"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "11.90"
      },
      "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": 11,
            "filtered": "1.22",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.19",
              "prefix_cost": "121.75",
              "data_read_per_join": "190"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (84706,91053,88941,88512,88141,88144,88939,90126,90129,84702,84705,91052,84697,84698,88946,88947,88948,88140,88143,88508,87890,88943,88944,88945,84695,88937,87877,90124,90125,90127,90128,88515,88518,87282,87290,88514,88517,88511,87876,88506,88507,88510,90828,90827,87995,87882,86861,87875,90826,87881,87787,87786,87874,87792,87798,87880,87873,87785,87790,87796,87789,87795,87758,85974,85975,85977,85978,85979,85980,85981,85982,85983,85984,85985,85986,85987,85988,85989,85990,85991,85992,85993,85994,85995,85996,85997,85998,85999,86003,86004,86005,86006,86007,86008,86009,86010))"
          }
        },
        {
          "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": 11,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.97",
              "eval_cost": "1.19",
              "prefix_cost": "125.92",
              "data_read_per_join": "190"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}