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 = 7165 
WHERE 
  cscart_products_categories.product_id IN (
    83938, 84082, 82497, 90169, 90174, 90175, 
    91472, 90206, 90217, 90193, 84050, 
    84058, 90226, 82495, 90237, 90242, 
    90253, 90261, 91471, 90186, 85961, 
    82498, 86856, 89547, 89533, 90252, 
    90260, 82493, 82435, 87375, 85606, 
    82496, 85610, 89539, 85605, 90251, 
    90259, 90279, 90287, 90176, 90192, 
    90309, 90236, 90241, 82494, 87372, 
    89543, 82487, 85960, 89532, 90235, 
    90240, 89540, 82492, 90225, 90183, 
    90234, 90239, 87371, 90224, 90199, 
    89546, 89538, 90173, 90308, 89554, 
    90223, 90278, 90286, 91481, 90198, 
    85620, 85634, 91480, 89544, 85618, 
    89542, 85616, 85619, 85633, 90222, 
    82491, 89563, 90221, 90197, 85617, 
    82490, 85615, 90205, 90216, 90220, 
    82489, 90191, 90277, 91478, 91885
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01581

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "129.62"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "5.83"
      },
      "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": "0.58",
              "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 (83938,84082,82497,90169,90174,90175,91472,90206,90217,90193,84050,84058,90226,82495,90237,90242,90253,90261,91471,90186,85961,82498,86856,89547,89533,90252,90260,82493,82435,87375,85606,82496,85610,89539,85605,90251,90259,90279,90287,90176,90192,90309,90236,90241,82494,87372,89543,82487,85960,89532,90235,90240,89540,82492,90225,90183,90234,90239,87371,90224,90199,89546,89538,90173,90308,89554,90223,90278,90286,91481,90198,85620,85634,91480,89544,85618,89542,85616,85619,85633,90222,82491,89563,90221,90197,85617,82490,85615,90205,90216,90220,82489,90191,90277,91478,91885))"
          }
        },
        {
          "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": "1.46",
              "eval_cost": "0.58",
              "prefix_cost": "123.79",
              "data_read_per_join": "93"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}