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 = 7223 
WHERE 
  cscart_products_categories.product_id IN (
    84542, 84607, 84608, 84671, 84672, 84645, 
    84524, 84590, 84338, 84339, 84326, 
    84539, 84605, 87392, 87393, 84343, 
    84344, 84627, 87390, 84540, 84606, 
    84513, 84579, 84670, 87405, 84342, 
    84341, 86753, 86754, 87401, 84495, 
    84561, 87399, 84538, 84604, 84340, 
    84315, 86804, 86805, 84297, 85662, 
    85682, 85694, 85706, 87431, 85658, 
    85667, 85687, 85699, 85711, 87421, 
    87422, 88546, 87430, 85675, 87426, 
    87427, 88544, 92554, 92597, 92598, 
    92599, 92600, 92601, 92602, 92620, 
    92621, 92622, 92623, 92624, 92625, 
    92643, 92644, 92645, 92646, 92647, 
    92648, 92666, 92667, 92668, 92669, 
    92670, 92671, 92689, 92690, 92691, 
    92692, 92693, 92694, 92735, 92736, 
    92737, 92738, 92739, 92740, 92769
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00251

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "70.67"
    },
    "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": 124,
            "rows_produced_per_join": 124,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "12.71",
              "eval_cost": "12.40",
              "prefix_cost": "25.11",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (84542,84607,84608,84671,84672,84645,84524,84590,84338,84339,84326,84539,84605,87392,87393,84343,84344,84627,87390,84540,84606,84513,84579,84670,87405,84342,84341,86753,86754,87401,84495,84561,87399,84538,84604,84340,84315,86804,86805,84297,85662,85682,85694,85706,87431,85658,85667,85687,85699,85711,87421,87422,88546,87430,85675,87426,87427,88544,92554,92597,92598,92599,92600,92601,92602,92620,92621,92622,92623,92624,92625,92643,92644,92645,92646,92647,92648,92666,92667,92668,92669,92670,92671,92689,92690,92691,92692,92693,92694,92735,92736,92737,92738,92739,92740,92769))"
          }
        },
        {
          "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": 6,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "31.00",
              "eval_cost": "0.62",
              "prefix_cost": "68.51",
              "data_read_per_join": "16K"
            },
            "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": "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": "1.55",
              "eval_cost": "0.62",
              "prefix_cost": "70.68",
              "data_read_per_join": "99"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}