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 = 7197 
WHERE 
  cscart_products_categories.product_id IN (
    95837, 95838, 95839, 95840, 95841, 95842, 
    95843, 95844, 95845, 95846, 95847, 
    95848, 95849, 95850, 95851, 95852, 
    95853, 95854, 95855, 95856, 95857, 
    95858, 95859, 95860, 95861, 95862, 
    95863, 95864, 95865, 95866, 95885, 
    95886, 95887, 95888, 95894, 96117, 
    96118, 96176, 96529, 96569, 97426, 
    97427, 97428, 97429, 97430, 97431, 
    97432, 97433, 97434, 97435, 97436, 
    97437, 97438, 97439, 97440, 97441, 
    97442, 97443, 97444, 97445, 97446, 
    97447, 97448, 97449, 97450, 97451, 
    97452, 97453, 97454, 97455, 97456, 
    97457, 97458, 97459, 97460, 97461, 
    97462, 97463, 97464, 97465, 97466, 
    97467, 97468, 97469, 97470, 97471, 
    97472, 97473, 97474, 97475, 97476, 
    97477, 97478, 97479, 97480, 97481
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01692

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "87.59"
    },
    "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": 97,
            "rows_produced_per_join": 97,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "10.00",
              "eval_cost": "9.70",
              "prefix_cost": "19.70",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (95837,95838,95839,95840,95841,95842,95843,95844,95845,95846,95847,95848,95849,95850,95851,95852,95853,95854,95855,95856,95857,95858,95859,95860,95861,95862,95863,95864,95865,95866,95885,95886,95887,95888,95894,96117,96118,96176,96529,96569,97426,97427,97428,97429,97430,97431,97432,97433,97434,97435,97436,97437,97438,97439,97440,97441,97442,97443,97444,97445,97446,97447,97448,97449,97450,97451,97452,97453,97454,97455,97456,97457,97458,97459,97460,97461,97462,97463,97464,97465,97466,97467,97468,97469,97470,97471,97472,97473,97474,97475,97476,97477,97478,97479,97480,97481))"
          }
        },
        {
          "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": 97,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "24.25",
              "eval_cost": "9.70",
              "prefix_cost": "53.65",
              "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": 4,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "24.25",
              "eval_cost": "0.49",
              "prefix_cost": "87.60",
              "data_read_per_join": "12K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}