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 = 7157 
WHERE 
  cscart_products_categories.product_id IN (
    92203, 92449, 92168, 86857, 85037, 91870, 
    91869, 91871, 91872, 91873, 91874, 
    91875, 85038, 92458, 92459, 92460, 
    92461, 92462, 92463, 92464, 86892, 
    92211, 92216, 92218, 92219, 92220, 
    92221, 92222, 92224, 92225, 92226, 
    92467, 86894, 92232, 92233, 92234, 
    92235, 92236, 92238, 92468, 92472, 
    92473, 92474, 92212, 92213, 92214, 
    92215, 92217, 92223, 92465, 92466, 
    92191, 92228, 92229, 92230, 92231, 
    92237, 92469, 92470, 92471, 91865, 
    85585, 92366, 92367, 92368, 92369, 
    92370, 92371, 92372, 91892, 92150, 
    92197, 92457, 85646, 91866, 91867, 
    92325, 92326, 92327, 92328, 85578, 
    92440, 92186, 92187, 92188, 92189, 
    92190, 92441, 85642, 85582, 86901, 
    91840, 91841, 91842, 91843, 91845
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01717

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "140.64"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "14.00"
      },
      "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": 13,
            "filtered": "1.43",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.40",
              "prefix_cost": "121.75",
              "data_read_per_join": "223"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (92203,92449,92168,86857,85037,91870,91869,91871,91872,91873,91874,91875,85038,92458,92459,92460,92461,92462,92463,92464,86892,92211,92216,92218,92219,92220,92221,92222,92224,92225,92226,92467,86894,92232,92233,92234,92235,92236,92238,92468,92472,92473,92474,92212,92213,92214,92215,92217,92223,92465,92466,92191,92228,92229,92230,92231,92237,92469,92470,92471,91865,85585,92366,92367,92368,92369,92370,92371,92372,91892,92150,92197,92457,85646,91866,91867,92325,92326,92327,92328,85578,92440,92186,92187,92188,92189,92190,92441,85642,85582,86901,91840,91841,91842,91843,91845))"
          }
        },
        {
          "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": 13,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "3.50",
              "eval_cost": "1.40",
              "prefix_cost": "126.65",
              "data_read_per_join": "223"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}