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 = 7195 
WHERE 
  cscart_products_categories.product_id IN (
    95726, 95727, 95728, 95729, 95730, 95731, 
    95732, 95733, 95734, 95735, 96122, 
    96124, 96125, 96126, 96127, 96128, 
    96129, 96131, 96132, 96133, 96134, 
    96135, 96136, 96137, 96138, 96139, 
    96140, 96141, 96142, 96143, 96144, 
    96145, 96146, 96147, 96148, 96149, 
    96150, 96151, 96152, 96153, 96154, 
    96155, 96156, 96157, 96158, 96159, 
    96160, 96161, 96162, 96163, 96164, 
    96165, 96166, 96167, 96168, 96169, 
    96170, 96171, 96172, 96173, 96174, 
    96175, 96189, 96195, 96196, 96197, 
    96198, 96199, 96200, 96201, 96209, 
    96212, 96349, 96537, 96559, 96560, 
    96561, 96842, 96843, 96844, 96845, 
    96846, 96847, 97057, 97058, 97059, 
    97060, 97061, 97062, 97063, 97064, 
    97065, 97066, 97067, 97068, 97069
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01715

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "110.10"
    },
    "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": 122,
            "rows_produced_per_join": 122,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "12.50",
              "eval_cost": "12.20",
              "prefix_cost": "24.70",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (95726,95727,95728,95729,95730,95731,95732,95733,95734,95735,96122,96124,96125,96126,96127,96128,96129,96131,96132,96133,96134,96135,96136,96137,96138,96139,96140,96141,96142,96143,96144,96145,96146,96147,96148,96149,96150,96151,96152,96153,96154,96155,96156,96157,96158,96159,96160,96161,96162,96163,96164,96165,96166,96167,96168,96169,96170,96171,96172,96173,96174,96175,96189,96195,96196,96197,96198,96199,96200,96201,96209,96212,96349,96537,96559,96560,96561,96842,96843,96844,96845,96846,96847,97057,97058,97059,97060,97061,97062,97063,97064,97065,97066,97067,97068,97069))"
          }
        },
        {
          "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": 122,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "30.50",
              "eval_cost": "12.20",
              "prefix_cost": "67.40",
              "data_read_per_join": "1K"
            },
            "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": 6,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "30.50",
              "eval_cost": "0.61",
              "prefix_cost": "110.10",
              "data_read_per_join": "15K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}