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 (
    82329, 86813, 86847, 89100, 89293, 91944, 
    89199, 82397, 86850, 89291, 89370, 
    83114, 83124, 83133, 89262, 89372, 
    89728, 89733, 90119, 83085, 89121, 
    89162, 89553, 83142, 89158, 89549, 
    89125, 91282, 89198, 89285, 84121, 
    86812, 89099, 82334, 82339, 82349, 
    84913, 84916, 84919, 84928, 84931, 
    86390, 89436, 82331, 86845, 89273, 
    89276, 89369, 91285, 82353, 83086, 
    83141, 89122, 89161, 89371, 89552, 
    91291, 90095, 90105, 90114, 86229, 
    91287, 82347, 84120, 86808, 89736, 
    89989, 89990, 89991, 89992, 86811, 
    89098, 89593, 89594, 89126, 91938, 
    82330, 82348, 86807, 86846, 89732, 
    89374, 83117, 83127, 83136, 89292, 
    82352, 89287, 86231, 90122, 86819, 
    86821, 89272, 89275, 91292, 89357
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01817

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "113.70"
    },
    "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": 126,
            "rows_produced_per_join": 126,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "12.91",
              "eval_cost": "12.60",
              "prefix_cost": "25.51",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (82329,86813,86847,89100,89293,91944,89199,82397,86850,89291,89370,83114,83124,83133,89262,89372,89728,89733,90119,83085,89121,89162,89553,83142,89158,89549,89125,91282,89198,89285,84121,86812,89099,82334,82339,82349,84913,84916,84919,84928,84931,86390,89436,82331,86845,89273,89276,89369,91285,82353,83086,83141,89122,89161,89371,89552,91291,90095,90105,90114,86229,91287,82347,84120,86808,89736,89989,89990,89991,89992,86811,89098,89593,89594,89126,91938,82330,82348,86807,86846,89732,89374,83117,83127,83136,89292,82352,89287,86231,90122,86819,86821,89272,89275,91292,89357))"
          }
        },
        {
          "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": 126,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "31.50",
              "eval_cost": "12.60",
              "prefix_cost": "69.61",
              "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": "31.50",
              "eval_cost": "0.63",
              "prefix_cost": "113.71",
              "data_read_per_join": "16K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}