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 (
    86890, 91864, 92374, 85576, 85584, 85572, 
    86900, 85592, 88907, 88908, 88905, 
    88906, 85546, 85571, 85573, 85574, 
    91877, 91878, 91879, 91880, 91881, 
    91882, 91883, 85555, 85594, 85564, 
    90025, 85575, 86889, 86895, 82359, 
    87888, 91844, 92185, 92382, 85561, 
    91856, 88910, 88909, 82370, 86893, 
    85553, 85559, 92172, 92358, 92359, 
    92360, 92361, 92362, 92363, 92364, 
    85560, 85566, 85641, 89988, 91848, 
    91888, 85569, 91876, 85545, 92357, 
    84237, 85548, 92913, 92914, 92915, 
    92916, 92917, 92918, 92919, 92920, 
    92921, 93283, 93285, 93287, 93289, 
    93291, 93753, 93754, 93755, 93756, 
    93757, 93758, 93759, 93760, 93761, 
    93762, 93763, 93764, 93765, 93766, 
    93767, 93768, 93769, 93770, 93771
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01782

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "135.18"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "9.95"
      },
      "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": 9,
            "filtered": "1.02",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.00",
              "prefix_cost": "121.75",
              "data_read_per_join": "159"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (86890,91864,92374,85576,85584,85572,86900,85592,88907,88908,88905,88906,85546,85571,85573,85574,91877,91878,91879,91880,91881,91882,91883,85555,85594,85564,90025,85575,86889,86895,82359,87888,91844,92185,92382,85561,91856,88910,88909,82370,86893,85553,85559,92172,92358,92359,92360,92361,92362,92363,92364,85560,85566,85641,89988,91848,91888,85569,91876,85545,92357,84237,85548,92913,92914,92915,92916,92917,92918,92919,92920,92921,93283,93285,93287,93289,93291,93753,93754,93755,93756,93757,93758,93759,93760,93761,93762,93763,93764,93765,93766,93767,93768,93769,93770,93771))"
          }
        },
        {
          "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": 9,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.49",
              "eval_cost": "1.00",
              "prefix_cost": "125.23",
              "data_read_per_join": "159"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}