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 (
    97614, 97615, 97617, 97618, 97620, 97623, 
    97625, 97629, 97630, 97631, 97633, 
    97635, 97636, 97637, 97639, 97640, 
    97641, 97642, 97643, 97644, 97645, 
    97646, 97647, 97648, 97649, 97650, 
    97651, 97652, 97653, 97654, 97655, 
    97656, 97657, 97658, 97659, 97660, 
    97661, 97662, 97663, 97664, 97665, 
    97666, 97667, 97668, 97669, 97670, 
    97671, 97672, 97673, 97674, 97675, 
    97676, 97677, 97678, 97679, 97680, 
    97681, 97682, 97683, 97684, 97685, 
    97686, 97687, 97688, 97689, 97690, 
    97691, 97692, 97693, 97694, 97695, 
    97696, 97697, 97699, 97700, 97701, 
    97702, 97705, 97706, 97707, 97708, 
    97709, 97710, 97711, 97712, 98054, 
    98055, 98056, 98057, 98058, 98059, 
    98060, 98061, 98062, 98063, 98064
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01705

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "135.45"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "10.15"
      },
      "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": 10,
            "filtered": "1.04",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.01",
              "prefix_cost": "121.75",
              "data_read_per_join": "162"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (97614,97615,97617,97618,97620,97623,97625,97629,97630,97631,97633,97635,97636,97637,97639,97640,97641,97642,97643,97644,97645,97646,97647,97648,97649,97650,97651,97652,97653,97654,97655,97656,97657,97658,97659,97660,97661,97662,97663,97664,97665,97666,97667,97668,97669,97670,97671,97672,97673,97674,97675,97676,97677,97678,97679,97680,97681,97682,97683,97684,97685,97686,97687,97688,97689,97690,97691,97692,97693,97694,97695,97696,97697,97699,97700,97701,97702,97705,97706,97707,97708,97709,97710,97711,97712,98054,98055,98056,98057,98058,98059,98060,98061,98062,98063,98064))"
          }
        },
        {
          "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": 10,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.54",
              "eval_cost": "1.01",
              "prefix_cost": "125.30",
              "data_read_per_join": "162"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}