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 (
    85969, 90187, 90188, 90284, 90292, 90145, 
    90160, 84052, 84060, 90130, 91476, 
    85965, 82516, 82544, 89559, 89569, 
    90299, 90306, 90144, 90159, 90249, 
    90257, 83941, 84085, 87412, 90283, 
    90291, 82515, 90143, 90158, 90200, 
    90211, 85968, 90195, 84089, 90170, 
    90171, 90134, 90135, 85964, 87359, 
    90298, 90305, 90230, 90245, 90184, 
    90185, 91475, 90136, 83940, 84084, 
    90282, 90290, 82514, 90208, 90219, 
    85967, 90248, 90256, 82511, 89564, 
    90227, 84051, 84059, 90281, 90289, 
    85963, 90177, 90178, 90247, 90255, 
    83939, 84083, 90207, 90218, 92001, 
    90179, 90133, 90229, 90244, 90280, 
    90288, 82485, 90194, 82510, 89555, 
    90254, 90262, 82499, 91473, 85962, 
    82436, 87381, 90228, 90243, 85611
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01705

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "131.09"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "6.92"
      },
      "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": 6,
            "filtered": "0.71",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.69",
              "prefix_cost": "121.75",
              "data_read_per_join": "110"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (85969,90187,90188,90284,90292,90145,90160,84052,84060,90130,91476,85965,82516,82544,89559,89569,90299,90306,90144,90159,90249,90257,83941,84085,87412,90283,90291,82515,90143,90158,90200,90211,85968,90195,84089,90170,90171,90134,90135,85964,87359,90298,90305,90230,90245,90184,90185,91475,90136,83940,84084,90282,90290,82514,90208,90219,85967,90248,90256,82511,89564,90227,84051,84059,90281,90289,85963,90177,90178,90247,90255,83939,84083,90207,90218,92001,90179,90133,90229,90244,90280,90288,82485,90194,82510,89555,90254,90262,82499,91473,85962,82436,87381,90228,90243,85611))"
          }
        },
        {
          "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": 6,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.73",
              "eval_cost": "0.69",
              "prefix_cost": "124.17",
              "data_read_per_join": "110"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}