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 (
    99115, 99116, 99118, 99119, 99122, 99124, 
    99126, 99129, 99130, 99132, 99134, 
    99143, 99163, 99164, 99166, 99172, 
    99173, 99175, 99178, 99180, 99184, 
    99192, 99194, 99197, 99200, 99204, 
    99207, 99209, 99223, 99224, 99225, 
    99226, 99228, 99229, 99230, 99231, 
    99232, 99244, 99245, 99246, 99247, 
    99253, 99260, 99261, 99271, 99272, 
    99273, 99274, 99276, 99277, 99278, 
    99280, 99281, 99324, 99325, 99326, 
    99327, 99328, 99329, 99344, 99422, 
    99423, 99424, 99425, 99426, 99427, 
    99428, 99429, 99430, 99431, 99432, 
    99433, 99434, 99435, 99436, 99437, 
    99529, 99530, 99531, 99532, 99533, 
    99534, 99535, 99536, 99537, 99538, 
    99539, 99540, 99541, 99542, 99543, 
    99544, 99545, 99546, 99547, 99548
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01672

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "137.39"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "11.59"
      },
      "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": 11,
            "filtered": "1.18",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.16",
              "prefix_cost": "121.75",
              "data_read_per_join": "185"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (99115,99116,99118,99119,99122,99124,99126,99129,99130,99132,99134,99143,99163,99164,99166,99172,99173,99175,99178,99180,99184,99192,99194,99197,99200,99204,99207,99209,99223,99224,99225,99226,99228,99229,99230,99231,99232,99244,99245,99246,99247,99253,99260,99261,99271,99272,99273,99274,99276,99277,99278,99280,99281,99324,99325,99326,99327,99328,99329,99344,99422,99423,99424,99425,99426,99427,99428,99429,99430,99431,99432,99433,99434,99435,99436,99437,99529,99530,99531,99532,99533,99534,99535,99536,99537,99538,99539,99540,99541,99542,99543,99544,99545,99546,99547,99548))"
          }
        },
        {
          "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": 11,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.90",
              "eval_cost": "1.16",
              "prefix_cost": "125.80",
              "data_read_per_join": "185"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}