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 = 7240 
WHERE 
  cscart_products_categories.product_id IN (
    88141, 88144, 89574, 88939, 84702, 84705, 
    91052, 84697, 84698, 88140, 88143, 
    88508, 87890, 84695, 88937, 87877, 
    88515, 88518, 88514, 88517, 88511, 
    87876, 88506, 88507, 88510, 90828, 
    90827, 87882, 87875, 90826, 87881, 
    87874, 87880, 87873, 92893, 92894, 
    93002, 93003, 93004, 93005, 93006, 
    93007, 93008, 93009, 93010, 93011, 
    93012, 93013, 93014, 93015, 93341, 
    93342, 93343, 93344, 93345, 93346, 
    93347, 93348, 93349, 93350, 93351, 
    93352, 93353, 93354, 93355, 93750, 
    93751, 93752, 93848, 93849, 93886, 
    93887, 93888, 93889, 93890, 93891, 
    93892, 93893, 94558, 94559, 94560, 
    94561, 94562, 94563, 94564, 94565, 
    94566, 94567, 94568, 94569, 94570, 
    94571, 94572, 94583, 94584, 94585
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01715

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "141.85"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "14.89"
      },
      "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": "1.52",
            "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 (88141,88144,89574,88939,84702,84705,91052,84697,84698,88140,88143,88508,87890,84695,88937,87877,88515,88518,88514,88517,88511,87876,88506,88507,88510,90828,90827,87882,87875,90826,87881,87874,87880,87873,92893,92894,93002,93003,93004,93005,93006,93007,93008,93009,93010,93011,93012,93013,93014,93015,93341,93342,93343,93344,93345,93346,93347,93348,93349,93350,93351,93352,93353,93354,93355,93750,93751,93752,93848,93849,93886,93887,93888,93889,93890,93891,93892,93893,94558,94559,94560,94561,94562,94563,94564,94565,94566,94567,94568,94569,94570,94571,94572,94583,94584,94585))"
          }
        },
        {
          "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": "3.72",
              "eval_cost": "1.49",
              "prefix_cost": "126.96",
              "data_read_per_join": "238"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}