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 = 7342 
WHERE 
  cscart_products_categories.product_id IN (
    91550, 91619, 91788, 91789, 91790, 91791, 
    91792, 91793, 91794, 91795, 92501, 
    92502, 92503, 92504, 92505, 92506, 
    92507, 92192, 92193, 92194, 92195, 
    92196, 92204, 92205, 92206, 92207, 
    92208, 92209, 92442, 92443, 92448, 
    92147, 92148, 92149, 92349, 92350, 
    92351, 92352, 85580, 92151, 92152, 
    92153, 92353, 92354, 92355, 92356, 
    91893, 91894, 91895, 92337, 92338, 
    92339, 92340, 91839, 92450, 92451, 
    92452, 92453, 92454, 92455, 92456, 
    91838, 91837, 92500, 85039, 87370, 
    89609, 89610, 92198, 92199, 92200, 
    92201, 92202, 92444, 92445, 92446, 
    92447, 92146, 92203, 92449, 86857, 
    85037, 91870, 91869, 91871, 91872, 
    91873, 91874, 91875, 85038, 92458, 
    92459, 92460, 92461, 92462, 92463
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01327

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "141.91"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "14.93"
      },
      "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": 14,
            "filtered": "1.53",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.49",
              "prefix_cost": "121.75",
              "data_read_per_join": "238"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (91550,91619,91788,91789,91790,91791,91792,91793,91794,91795,92501,92502,92503,92504,92505,92506,92507,92192,92193,92194,92195,92196,92204,92205,92206,92207,92208,92209,92442,92443,92448,92147,92148,92149,92349,92350,92351,92352,85580,92151,92152,92153,92353,92354,92355,92356,91893,91894,91895,92337,92338,92339,92340,91839,92450,92451,92452,92453,92454,92455,92456,91838,91837,92500,85039,87370,89609,89610,92198,92199,92200,92201,92202,92444,92445,92446,92447,92146,92203,92449,86857,85037,91870,91869,91871,91872,91873,91874,91875,85038,92458,92459,92460,92461,92462,92463))"
          }
        },
        {
          "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": 14,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "3.73",
              "eval_cost": "1.49",
              "prefix_cost": "126.98",
              "data_read_per_join": "238"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}