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 = 7211 
WHERE 
  cscart_products_categories.product_id IN (
    93353, 93354, 93355, 93750, 93751, 93752, 
    93794, 93848, 93849, 93886, 93887, 
    93888, 93889, 93890, 93891, 93892, 
    93893, 94484, 94486, 94487, 94488, 
    94489, 94490, 94491, 94493, 94494, 
    94496, 94499, 94501, 94505, 94506, 
    94507, 94509, 94511, 94512, 94513, 
    94515, 94516, 94517, 94518, 94519, 
    94520, 94521, 94522, 94523, 94524, 
    94525, 94526
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00183

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "75.78"
    },
    "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": 133,
            "rows_produced_per_join": 133,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "13.61",
              "eval_cost": "13.30",
              "prefix_cost": "26.91",
              "data_read_per_join": "2K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (93353,93354,93355,93750,93751,93752,93794,93848,93849,93886,93887,93888,93889,93890,93891,93892,93893,94484,94486,94487,94488,94489,94490,94491,94493,94494,94496,94499,94501,94505,94506,94507,94509,94511,94512,94513,94515,94516,94517,94518,94519,94520,94521,94522,94523,94524,94525,94526))"
          }
        },
        {
          "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": 6,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "33.25",
              "eval_cost": "0.67",
              "prefix_cost": "73.46",
              "data_read_per_join": "17K"
            },
            "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": 6,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.66",
              "eval_cost": "0.67",
              "prefix_cost": "75.79",
              "data_read_per_join": "106"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}