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 = 7170 
WHERE 
  cscart_products_categories.product_id IN (
    101431, 101432, 101433, 101434, 101435, 
    101436, 101437, 101438, 101439, 101440, 
    101441, 101442, 101443, 101444, 101445, 
    101446, 101447, 101448, 101449, 101450, 
    101451, 101452, 101453, 101454, 101455, 
    101456, 101457, 101458, 101459, 101460, 
    101461, 101462, 101463, 101464, 101465, 
    101466, 101467, 101468, 101469, 101470, 
    101471, 101472, 101473, 101474, 101475, 
    101476, 101477, 101478, 101479, 101480, 
    101481, 101482, 101483, 101484, 101485, 
    101486, 101487, 101488, 101489, 101490, 
    101491, 101492, 101493, 101494, 101495, 
    101496, 101497, 101498, 101499, 101500, 
    101501, 101502, 101503, 101504, 101505, 
    101506, 101507, 101508, 101626, 101660, 
    101661, 101662, 101663, 101664, 101665, 
    101666, 101667, 101668, 101671, 101746, 
    101747, 101748, 101749, 101750, 101751, 
    101752
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00246

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "54.77"
    },
    "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": 96,
            "rows_produced_per_join": 96,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "9.89",
              "eval_cost": "9.60",
              "prefix_cost": "19.49",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (101431,101432,101433,101434,101435,101436,101437,101438,101439,101440,101441,101442,101443,101444,101445,101446,101447,101448,101449,101450,101451,101452,101453,101454,101455,101456,101457,101458,101459,101460,101461,101462,101463,101464,101465,101466,101467,101468,101469,101470,101471,101472,101473,101474,101475,101476,101477,101478,101479,101480,101481,101482,101483,101484,101485,101486,101487,101488,101489,101490,101491,101492,101493,101494,101495,101496,101497,101498,101499,101500,101501,101502,101503,101504,101505,101506,101507,101508,101626,101660,101661,101662,101663,101664,101665,101666,101667,101668,101671,101746,101747,101748,101749,101750,101751,101752))"
          }
        },
        {
          "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": 4,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "24.00",
              "eval_cost": "0.48",
              "prefix_cost": "53.09",
              "data_read_per_join": "12K"
            },
            "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": 4,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.20",
              "eval_cost": "0.48",
              "prefix_cost": "54.77",
              "data_read_per_join": "76"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}