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 = 7156 
WHERE 
  cscart_products_categories.product_id IN (
    87241, 87244, 87245, 87246, 87249, 87250, 
    87251, 86894, 92232, 92233, 92234, 
    92235, 92236, 92238, 92468, 92472, 
    92473, 92474, 84240, 88588, 84239, 
    92212, 92213, 92214, 92215, 92217, 
    92223, 92465, 92466, 92191, 84238, 
    92228, 92229, 92230, 92231, 92237, 
    92469, 92470, 92471, 91865, 85585, 
    92366, 92367, 92368, 92369, 92370, 
    92371, 92372, 91892, 92150, 84254, 
    84259, 87577, 87592, 87607, 88788, 
    92197, 92457, 85646, 91866, 91867, 
    92325, 92326, 92327, 92328, 90054, 
    90056, 90057, 84252, 84253, 84257, 
    84258, 87575, 87576, 87590, 87591, 
    87605, 87606, 88786, 88787, 85578, 
    87656, 87670, 87677, 87684, 87705, 
    87716, 87717, 87730, 87731, 90022, 
    90024, 90038, 90040, 90041, 92440
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01580

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "133.82"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "8.94"
      },
      "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": 8,
            "filtered": "0.91",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.89",
              "prefix_cost": "121.75",
              "data_read_per_join": "143"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (87241,87244,87245,87246,87249,87250,87251,86894,92232,92233,92234,92235,92236,92238,92468,92472,92473,92474,84240,88588,84239,92212,92213,92214,92215,92217,92223,92465,92466,92191,84238,92228,92229,92230,92231,92237,92469,92470,92471,91865,85585,92366,92367,92368,92369,92370,92371,92372,91892,92150,84254,84259,87577,87592,87607,88788,92197,92457,85646,91866,91867,92325,92326,92327,92328,90054,90056,90057,84252,84253,84257,84258,87575,87576,87590,87591,87605,87606,88786,88787,85578,87656,87670,87677,87684,87705,87716,87717,87730,87731,90022,90024,90038,90040,90041,92440))"
          }
        },
        {
          "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": 8,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.24",
              "eval_cost": "0.89",
              "prefix_cost": "124.88",
              "data_read_per_join": "143"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}