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 = 7143 
WHERE 
  cscart_products_categories.product_id IN (
    82413, 86337, 86336, 92555, 92558, 92559, 
    92593, 92594, 92595, 92596, 92840, 
    92841, 92842, 92843, 93071, 93072, 
    93073, 93074, 93075, 93076, 93077, 
    93515, 93516, 93517, 93518, 93519, 
    93520, 93521, 93522, 93894
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00132

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "36.27"
    },
    "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": 40,
            "rows_produced_per_join": 40,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "4.27",
              "eval_cost": "4.00",
              "prefix_cost": "8.27",
              "data_read_per_join": "640"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (82413,86337,86336,92555,92558,92559,92593,92594,92595,92596,92840,92841,92842,92843,93071,93072,93073,93074,93075,93076,93077,93515,93516,93517,93518,93519,93520,93521,93522,93894))"
          }
        },
        {
          "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": 40,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "10.00",
              "eval_cost": "4.00",
              "prefix_cost": "22.27",
              "data_read_per_join": "640"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        },
        {
          "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": 2,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "10.00",
              "eval_cost": "0.20",
              "prefix_cost": "36.27",
              "data_read_per_join": "5K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}

Result

product_id category_ids position
82413 7143,7300,7306M 0
86336 7143,7300,7306M 0
86337 7143,7300,7306M 0
92555 7302M
92558 7304M
92559 7304M
92593 7303,7161M
92594 7303,7161M
92595 7303,7161M
92596 7303,7161M
92840 7145M
92841 7147M
92842 7146M
92843 7145M
93071 7326M
93072 7326M
93073 7326M
93074 7326M
93075 7326M
93076 7326M
93077 7326M
93515 7326M
93516 7326M
93517 7326M
93518 7326M
93519 7326M
93520 7326M
93521 7326M
93522 7326M
93894 7326M