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 (
    96756, 96757, 96758, 96759, 96760, 96761, 
    96762, 96763, 96764, 96765, 96766, 
    96767, 96768, 96769, 96770, 96771, 
    96772, 96773, 96774, 96775, 96776, 
    96777, 96788, 96789, 96790, 96985, 
    96986, 96987, 96988, 96989, 96990, 
    96991, 96992, 96993, 96994, 96995, 
    96996, 96997, 96999, 97000, 97001, 
    97002, 97003, 97004, 97005, 97006, 
    97007, 97008, 97009, 97010, 97011, 
    97012, 97013, 97014, 97018, 97019, 
    97020, 97021, 97034, 97035, 97036, 
    97037, 97038, 97041, 97042, 97043, 
    97044, 97047, 97048, 97049, 97050, 
    97051, 97052, 97053, 97054, 97055, 
    97056, 97810, 97811, 97812, 97813, 
    97814, 97815, 97816, 97817, 97818, 
    97819, 97820, 97821, 97822, 97823, 
    97824, 97825, 97826, 97827, 97828
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01606

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "128.89"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "5.29"
      },
      "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": "0.54",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.53",
              "prefix_cost": "121.75",
              "data_read_per_join": "84"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (96756,96757,96758,96759,96760,96761,96762,96763,96764,96765,96766,96767,96768,96769,96770,96771,96772,96773,96774,96775,96776,96777,96788,96789,96790,96985,96986,96987,96988,96989,96990,96991,96992,96993,96994,96995,96996,96997,96999,97000,97001,97002,97003,97004,97005,97006,97007,97008,97009,97010,97011,97012,97013,97014,97018,97019,97020,97021,97034,97035,97036,97037,97038,97041,97042,97043,97044,97047,97048,97049,97050,97051,97052,97053,97054,97055,97056,97810,97811,97812,97813,97814,97815,97816,97817,97818,97819,97820,97821,97822,97823,97824,97825,97826,97827,97828))"
          }
        },
        {
          "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": "1.32",
              "eval_cost": "0.53",
              "prefix_cost": "123.60",
              "data_read_per_join": "84"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}