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 = 7170 
WHERE 
  cscart_products_categories.product_id IN (
    93465, 93466, 93467, 93468, 93469, 93470, 
    93471, 93472, 93473, 93474, 93475, 
    93476, 93477, 93478, 93479, 93480, 
    93481, 93482, 93483, 93484, 93485, 
    93486, 93487, 93488, 93489, 93490, 
    93491, 93492, 93493, 93494, 93495, 
    93496, 93497, 93498, 93499, 93500, 
    93501, 93502, 93503, 93504, 93505, 
    93506, 93507, 93508, 93509, 93510, 
    93511, 93512, 93513, 93514, 93529, 
    93530, 93531, 93532, 93533, 93534, 
    93535, 93536, 93537, 93538, 93539, 
    93540, 93541, 93542, 93543, 93544, 
    93545, 93546, 93547, 93548, 93549, 
    93550, 93551, 93552, 93553, 93554, 
    93555, 93556, 93557, 93558, 93559, 
    93560, 93561, 93562, 93563, 93564, 
    93565, 93566, 93567, 93568, 93569, 
    93570, 93571, 93572, 93573, 93574
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00227

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "54.77"
    },
    "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": 96,
            "rows_produced_per_join": 96,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "9.89",
              "eval_cost": "9.60",
              "prefix_cost": "19.49",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (93465,93466,93467,93468,93469,93470,93471,93472,93473,93474,93475,93476,93477,93478,93479,93480,93481,93482,93483,93484,93485,93486,93487,93488,93489,93490,93491,93492,93493,93494,93495,93496,93497,93498,93499,93500,93501,93502,93503,93504,93505,93506,93507,93508,93509,93510,93511,93512,93513,93514,93529,93530,93531,93532,93533,93534,93535,93536,93537,93538,93539,93540,93541,93542,93543,93544,93545,93546,93547,93548,93549,93550,93551,93552,93553,93554,93555,93556,93557,93558,93559,93560,93561,93562,93563,93564,93565,93566,93567,93568,93569,93570,93571,93572,93573,93574))"
          }
        },
        {
          "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": "24.00",
              "eval_cost": "0.48",
              "prefix_cost": "53.09",
              "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')))"
          }
        },
        {
          "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": 4,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.20",
              "eval_cost": "0.48",
              "prefix_cost": "54.77",
              "data_read_per_join": "76"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}