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 = 7237 
WHERE 
  cscart_products_categories.product_id IN (
    94417, 94418, 94419, 94420, 94421, 94422, 
    94423, 94424, 94425, 94426, 94427, 
    94429, 94430, 94431, 94432, 94433, 
    94434, 94439, 94440, 94441, 94854, 
    94855, 94856, 94857, 94858, 94859, 
    94860, 94861, 94862, 94863, 94864, 
    94865, 94866, 94867, 94868, 94869, 
    94870, 94871, 94872, 94873, 94874, 
    94875, 94876, 94877, 94878, 94879, 
    94880, 94881, 94882, 94883, 94884, 
    94885, 94886, 94887, 94888, 94889, 
    94890, 94891, 94892, 94893, 94894, 
    94895, 94896, 94897, 94898, 94899, 
    94900, 94901, 94902, 94903, 94904, 
    94905, 94906, 94907, 94908, 94909, 
    94910, 94911, 94912, 94913, 94914, 
    94915, 94916, 94917, 94918, 94919, 
    94920, 94921, 94922, 94923, 94924, 
    94925, 94926, 94927, 94928, 94929
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01547

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "86.69"
    },
    "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 (94417,94418,94419,94420,94421,94422,94423,94424,94425,94426,94427,94429,94430,94431,94432,94433,94434,94439,94440,94441,94854,94855,94856,94857,94858,94859,94860,94861,94862,94863,94864,94865,94866,94867,94868,94869,94870,94871,94872,94873,94874,94875,94876,94877,94878,94879,94880,94881,94882,94883,94884,94885,94886,94887,94888,94889,94890,94891,94892,94893,94894,94895,94896,94897,94898,94899,94900,94901,94902,94903,94904,94905,94906,94907,94908,94909,94910,94911,94912,94913,94914,94915,94916,94917,94918,94919,94920,94921,94922,94923,94924,94925,94926,94927,94928,94929))"
          }
        },
        {
          "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": 96,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "24.00",
              "eval_cost": "9.60",
              "prefix_cost": "53.09",
              "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": 4,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "24.00",
              "eval_cost": "0.48",
              "prefix_cost": "86.69",
              "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')))"
          }
        }
      ]
    }
  }
}