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 = 7184 
WHERE 
  cscart_products_categories.product_id IN (
    91369, 89615, 89628, 86857, 90071, 91368, 
    85654, 90073, 84114, 84105, 85037, 
    89007, 89009, 83094, 83107, 83108, 
    84113, 91379, 83099, 91382, 91384, 
    91870, 91351, 91353, 91367, 83950, 
    83951, 83952, 83953, 89179, 91295, 
    83110, 83120, 89008, 91869, 91871, 
    91872, 91873, 91874, 91875, 85038, 
    90063, 91377, 92458, 92459, 92460, 
    92461, 92462, 92463, 92464, 91380, 
    92489, 92490, 92491, 92492, 92493, 
    92494, 92495, 86892, 90065, 91349, 
    91352, 91354, 90076, 92211, 92216, 
    92218, 92219, 92220, 92221, 92222, 
    92224, 92225, 92226, 92467, 86383, 
    89739, 91378, 92232, 92233, 92234, 
    92235, 92236, 92238, 92468, 92472, 
    92473, 92474, 91347, 89725, 83095, 
    84101, 83946, 83947, 83948, 83949
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01689

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "135.66"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "10.30"
      },
      "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": 10,
            "filtered": "1.05",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.03",
              "prefix_cost": "121.75",
              "data_read_per_join": "164"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (91369,89615,89628,86857,90071,91368,85654,90073,84114,84105,85037,89007,89009,83094,83107,83108,84113,91379,83099,91382,91384,91870,91351,91353,91367,83950,83951,83952,83953,89179,91295,83110,83120,89008,91869,91871,91872,91873,91874,91875,85038,90063,91377,92458,92459,92460,92461,92462,92463,92464,91380,92489,92490,92491,92492,92493,92494,92495,86892,90065,91349,91352,91354,90076,92211,92216,92218,92219,92220,92221,92222,92224,92225,92226,92467,86383,89739,91378,92232,92233,92234,92235,92236,92238,92468,92472,92473,92474,91347,89725,83095,84101,83946,83947,83948,83949))"
          }
        },
        {
          "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": 10,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.58",
              "eval_cost": "1.03",
              "prefix_cost": "125.35",
              "data_read_per_join": "164"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}