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 = 7156 
WHERE 
  cscart_products_categories.product_id IN (
    93772, 93773, 93774, 93775, 93776, 93777, 
    93778, 93779, 93780, 93825, 93826, 
    93827, 93828, 93829, 94073, 94140, 
    94141, 94142, 94143, 94144, 94145, 
    94146, 94147, 94148, 94149, 94150, 
    94151, 94152, 94153, 94154, 94155, 
    94156, 94157, 94158, 94159, 94160, 
    94452, 94453, 94454, 94455, 94456, 
    94458, 94459, 94460, 94461, 94462, 
    94604, 94605, 94606, 94607, 94608, 
    94609, 94610, 94611, 94612, 94613, 
    94614, 94615, 94616, 94617, 94618, 
    94654, 94655, 94656, 94657, 94658, 
    94666, 94667, 94668, 94669, 94670, 
    94751, 94752, 94753, 94754, 94755, 
    94756, 94757, 94758, 94762, 94764, 
    95314, 95378, 95379, 95380, 95381, 
    95382, 95383, 95384, 95385, 95386, 
    95387, 95388, 95389, 95390, 95391
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01671

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "129.93"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "6.07"
      },
      "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": 6,
            "filtered": "0.62",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.61",
              "prefix_cost": "121.75",
              "data_read_per_join": "97"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (93772,93773,93774,93775,93776,93777,93778,93779,93780,93825,93826,93827,93828,93829,94073,94140,94141,94142,94143,94144,94145,94146,94147,94148,94149,94150,94151,94152,94153,94154,94155,94156,94157,94158,94159,94160,94452,94453,94454,94455,94456,94458,94459,94460,94461,94462,94604,94605,94606,94607,94608,94609,94610,94611,94612,94613,94614,94615,94616,94617,94618,94654,94655,94656,94657,94658,94666,94667,94668,94669,94670,94751,94752,94753,94754,94755,94756,94757,94758,94762,94764,95314,95378,95379,95380,95381,95382,95383,95384,95385,95386,95387,95388,95389,95390,95391))"
          }
        },
        {
          "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": 6,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.52",
              "eval_cost": "0.61",
              "prefix_cost": "123.87",
              "data_read_per_join": "97"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}