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 = 7156 
WHERE 
  cscart_products_categories.product_id IN (
    92173, 92174, 92395, 92396, 92397, 92398, 
    92399, 84250, 84255, 87578, 87579, 
    87593, 87594, 87608, 87609, 88151, 
    88153, 88789, 88790, 92198, 92199, 
    92200, 92201, 92202, 92444, 92445, 
    92446, 92447, 87653, 87667, 87674, 
    87681, 87702, 87710, 87711, 87724, 
    87725, 92146, 87652, 87658, 87666, 
    87672, 87673, 87679, 87680, 87686, 
    87701, 87707, 87709, 87721, 87723, 
    87735, 88694, 88695, 88741, 88742, 
    92203, 92449, 92168, 86857, 85037, 
    91870, 91869, 91871, 91872, 91873, 
    91874, 91875, 85038, 92458, 92459, 
    92460, 92461, 92462, 92463, 92464, 
    86892, 88149, 88587, 92211, 92216, 
    92218, 92219, 92220, 92221, 92222, 
    92224, 92225, 92226, 92467, 84241, 
    87234, 87235, 87236, 87239, 87240
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01648

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "134.08"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "9.14"
      },
      "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": 9,
            "filtered": "0.93",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.91",
              "prefix_cost": "121.75",
              "data_read_per_join": "146"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (92173,92174,92395,92396,92397,92398,92399,84250,84255,87578,87579,87593,87594,87608,87609,88151,88153,88789,88790,92198,92199,92200,92201,92202,92444,92445,92446,92447,87653,87667,87674,87681,87702,87710,87711,87724,87725,92146,87652,87658,87666,87672,87673,87679,87680,87686,87701,87707,87709,87721,87723,87735,88694,88695,88741,88742,92203,92449,92168,86857,85037,91870,91869,91871,91872,91873,91874,91875,85038,92458,92459,92460,92461,92462,92463,92464,86892,88149,88587,92211,92216,92218,92219,92220,92221,92222,92224,92225,92226,92467,84241,87234,87235,87236,87239,87240))"
          }
        },
        {
          "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": 9,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.28",
              "eval_cost": "0.91",
              "prefix_cost": "124.95",
              "data_read_per_join": "146"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}