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 = 7165 
WHERE 
  cscart_products_categories.product_id IN (
    92570, 92571, 92572, 92573, 92574, 92575, 
    92576, 92577, 92578, 92579, 92580, 
    92581, 92582, 92583, 92584, 92585, 
    92586, 92587, 92588, 92589, 92590, 
    92591, 92592, 93296, 93297, 93298, 
    93299, 93300, 93301, 93302, 93303, 
    93304, 93305, 93306, 93307, 93308, 
    93309, 93310, 93311, 93312, 93313, 
    93314, 93315, 93316, 93317, 93318, 
    93319, 93320, 93321, 93322, 93323, 
    93324, 93325, 93326, 93327, 93328, 
    93329, 93330, 93331, 93332, 93333, 
    93334, 93335, 93336, 93337, 93356, 
    93357, 93358, 93868, 93869, 93870, 
    93871, 93896, 93897, 93898, 93899, 
    93900, 93901, 93902, 93903, 93904, 
    93905, 93906, 93907, 93908, 93909, 
    93910, 93911, 93912, 93913, 93914, 
    93915, 93916, 93917, 93918, 93919
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01736

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "95.70"
    },
    "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": 106,
            "rows_produced_per_join": 106,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "10.90",
              "eval_cost": "10.60",
              "prefix_cost": "21.50",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (92570,92571,92572,92573,92574,92575,92576,92577,92578,92579,92580,92581,92582,92583,92584,92585,92586,92587,92588,92589,92590,92591,92592,93296,93297,93298,93299,93300,93301,93302,93303,93304,93305,93306,93307,93308,93309,93310,93311,93312,93313,93314,93315,93316,93317,93318,93319,93320,93321,93322,93323,93324,93325,93326,93327,93328,93329,93330,93331,93332,93333,93334,93335,93336,93337,93356,93357,93358,93868,93869,93870,93871,93896,93897,93898,93899,93900,93901,93902,93903,93904,93905,93906,93907,93908,93909,93910,93911,93912,93913,93914,93915,93916,93917,93918,93919))"
          }
        },
        {
          "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": 106,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "26.50",
              "eval_cost": "10.60",
              "prefix_cost": "58.60",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        },
        {
          "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": 5,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "26.50",
              "eval_cost": "0.53",
              "prefix_cost": "95.70",
              "data_read_per_join": "13K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}