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 (
    97829, 97830, 97831, 97832, 97834, 97835, 
    97836, 97837, 97838, 97839, 97840, 
    97988, 97989, 97990, 97991, 97992, 
    97993, 98030, 98031, 98032, 98033, 
    98034, 98035, 98039, 98138, 98139, 
    98140, 98141, 98142, 98143, 98144, 
    98157, 98158, 98159, 98160, 98161, 
    98162, 98163, 98164, 98165, 98166, 
    98167, 98168, 98224, 98225, 98226, 
    98227, 98228, 98234, 98235, 98236, 
    98237, 98238, 98239, 98240, 98241, 
    98242, 98243, 98244, 98245, 98246, 
    98247, 98248, 98249, 98250, 98251, 
    98252, 98253, 98254, 98255, 98256, 
    98257, 98258, 98259, 98260, 98261, 
    98262, 98263, 98264, 98265, 98266, 
    98267, 98268, 98269, 98270, 98271, 
    98272, 98273, 98274, 98275, 98276, 
    98277, 98278, 98279, 98280, 98281
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00761

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "102.90"
    },
    "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": 114,
            "rows_produced_per_join": 114,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "11.70",
              "eval_cost": "11.40",
              "prefix_cost": "23.10",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (97829,97830,97831,97832,97834,97835,97836,97837,97838,97839,97840,97988,97989,97990,97991,97992,97993,98030,98031,98032,98033,98034,98035,98039,98138,98139,98140,98141,98142,98143,98144,98157,98158,98159,98160,98161,98162,98163,98164,98165,98166,98167,98168,98224,98225,98226,98227,98228,98234,98235,98236,98237,98238,98239,98240,98241,98242,98243,98244,98245,98246,98247,98248,98249,98250,98251,98252,98253,98254,98255,98256,98257,98258,98259,98260,98261,98262,98263,98264,98265,98266,98267,98268,98269,98270,98271,98272,98273,98274,98275,98276,98277,98278,98279,98280,98281))"
          }
        },
        {
          "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": 114,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "28.50",
              "eval_cost": "11.40",
              "prefix_cost": "63.00",
              "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": 5,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "28.50",
              "eval_cost": "0.57",
              "prefix_cost": "102.90",
              "data_read_per_join": "14K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}