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 (
    94576, 94577, 94578, 94581, 94582, 94583, 
    94584, 94585, 94586, 94587, 94588, 
    94843, 94850, 94852, 94853, 95309, 
    95316, 95376, 95756, 95758, 95762, 
    95770, 95771, 95772, 95774, 95775, 
    95776, 95778, 95779, 95823, 95824, 
    95825, 95826, 95830, 95831, 95869, 
    95870, 95871, 95872, 95873, 95874, 
    95875, 95876, 95877, 95878, 95879, 
    95880, 95881, 95882, 95883, 95884, 
    95895, 95896, 95897, 95898, 95899, 
    95900, 95901, 95902, 95903, 95904, 
    95905, 95906, 95907, 95908, 95909, 
    95910, 95911, 95912, 95913, 95914, 
    95915, 95916, 95917, 95918, 95919, 
    95920, 95921, 95922, 95923, 95924, 
    95945, 95946, 96119, 96508, 96530, 
    96570, 96572, 96573, 97574, 97575, 
    97608, 97610, 97611, 97612, 97613
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01652

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "138.75"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "12.60"
      },
      "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": 12,
            "filtered": "1.29",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.26",
              "prefix_cost": "121.75",
              "data_read_per_join": "201"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (94576,94577,94578,94581,94582,94583,94584,94585,94586,94587,94588,94843,94850,94852,94853,95309,95316,95376,95756,95758,95762,95770,95771,95772,95774,95775,95776,95778,95779,95823,95824,95825,95826,95830,95831,95869,95870,95871,95872,95873,95874,95875,95876,95877,95878,95879,95880,95881,95882,95883,95884,95895,95896,95897,95898,95899,95900,95901,95902,95903,95904,95905,95906,95907,95908,95909,95910,95911,95912,95913,95914,95915,95916,95917,95918,95919,95920,95921,95922,95923,95924,95945,95946,96119,96508,96530,96570,96572,96573,97574,97575,97608,97610,97611,97612,97613))"
          }
        },
        {
          "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": 12,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "3.15",
              "eval_cost": "1.26",
              "prefix_cost": "126.16",
              "data_read_per_join": "201"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}