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 (
    86855, 84265, 89384, 89389, 89300, 89432, 
    89731, 89439, 82381, 89301, 82396, 
    86851, 89440, 82416, 86853, 89431, 
    89299, 84263, 84267, 89349, 89334, 
    83088, 89124, 89128, 89160, 89551, 
    82343, 89350, 89263, 89340, 82450, 
    82451, 86238, 91290, 84264, 91913, 
    91914, 91915, 91916, 91917, 91918, 
    91919, 82332, 86814, 86844, 89101, 
    89336, 89729, 89734, 91286, 82415, 
    86854, 89339, 82355, 90093, 90103, 
    90112, 89438, 82398, 86849, 89730, 
    91293, 89353, 82380, 89333, 89354, 
    82340, 82341, 82346, 86389, 86391, 
    89430, 83115, 83125, 83134, 82449, 
    86823, 89123, 89127, 89159, 89550, 
    89355, 89356, 83087, 89284, 89437, 
    91289, 84262, 84266, 90120, 89157, 
    89548, 90092, 90102, 90111, 89335
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01936

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "129.67"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "5.87"
      },
      "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": 5,
            "filtered": "0.60",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.59",
              "prefix_cost": "121.75",
              "data_read_per_join": "93"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (86855,84265,89384,89389,89300,89432,89731,89439,82381,89301,82396,86851,89440,82416,86853,89431,89299,84263,84267,89349,89334,83088,89124,89128,89160,89551,82343,89350,89263,89340,82450,82451,86238,91290,84264,91913,91914,91915,91916,91917,91918,91919,82332,86814,86844,89101,89336,89729,89734,91286,82415,86854,89339,82355,90093,90103,90112,89438,82398,86849,89730,91293,89353,82380,89333,89354,82340,82341,82346,86389,86391,89430,83115,83125,83134,82449,86823,89123,89127,89159,89550,89355,89356,83087,89284,89437,91289,84262,84266,90120,89157,89548,90092,90102,90111,89335))"
          }
        },
        {
          "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": 5,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.47",
              "eval_cost": "0.59",
              "prefix_cost": "123.80",
              "data_read_per_join": "93"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}