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 = 7143 
WHERE 
  cscart_products_categories.product_id IN (
    91985, 91986, 91987, 91988, 91989, 91990, 
    91991, 91969, 91971, 91972, 91974, 
    91975, 86810, 90117, 82384, 82557, 
    83145, 89196, 84124, 82369, 82345, 
    82373, 82375, 90115, 83139, 91952, 
    89194, 82400, 82408, 82418, 84116, 
    84118, 89590, 83137, 89589, 82390, 
    86806, 82344, 82560, 82565, 82569, 
    82573, 82562, 82566, 82570, 91968, 
    82555, 82553, 82554, 86232, 86233, 
    82559, 82552, 82564, 82568, 82572, 
    91976, 91984, 86809, 82558, 82413, 
    86337, 86336, 92555, 92558, 92559, 
    92593, 92594, 92595, 92596, 92840, 
    92841, 92842, 92843, 93071, 93072, 
    93073, 93074, 93075, 93076, 93077, 
    93515, 93516, 93517, 93518, 93519, 
    93520, 93521, 93522, 93894, 93895, 
    94023, 94064, 94065, 94066, 94067
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01076

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "129.51"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "5.75"
      },
      "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": 5,
            "filtered": "0.59",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.58",
              "prefix_cost": "121.75",
              "data_read_per_join": "92"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (91985,91986,91987,91988,91989,91990,91991,91969,91971,91972,91974,91975,86810,90117,82384,82557,83145,89196,84124,82369,82345,82373,82375,90115,83139,91952,89194,82400,82408,82418,84116,84118,89590,83137,89589,82390,86806,82344,82560,82565,82569,82573,82562,82566,82570,91968,82555,82553,82554,86232,86233,82559,82552,82564,82568,82572,91976,91984,86809,82558,82413,86337,86336,92555,92558,92559,92593,92594,92595,92596,92840,92841,92842,92843,93071,93072,93073,93074,93075,93076,93077,93515,93516,93517,93518,93519,93520,93521,93522,93894,93895,94023,94064,94065,94066,94067))"
          }
        },
        {
          "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": 5,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.44",
              "eval_cost": "0.58",
              "prefix_cost": "123.76",
              "data_read_per_join": "92"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}