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 = 7263 
WHERE 
  cscart_products_categories.product_id IN (
    96657, 96658, 96659, 96660, 96661, 96662, 
    96663, 96664, 96665, 96666, 96667, 
    96695, 96696, 96697, 97743, 97744, 
    97745, 97746, 97747, 97748, 97749, 
    97750, 97751, 97752, 97753, 97754, 
    97755, 97756, 97757, 97758, 97759, 
    97760, 97761, 97762, 97763, 97764, 
    97795, 97796, 97797, 97798, 98052, 
    98053, 98149, 98150, 98153, 98156, 
    98762, 98851, 98852, 98853, 98854, 
    98855, 98856, 98857, 98858, 99133, 
    99141, 99142, 99151, 99152, 99169, 
    99170, 99248, 99257, 99262, 99322, 
    99323, 99404, 99405, 99406, 99407, 
    99408, 99409, 99410, 99411, 100392, 
    100433, 100437, 100677, 100678, 100679, 
    100680, 100681, 100682, 100683, 100684, 
    100685, 100686, 100687, 100688, 100689, 
    100690, 100691, 100692, 100693, 100694
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00284

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "54.77"
    },
    "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 (96657,96658,96659,96660,96661,96662,96663,96664,96665,96666,96667,96695,96696,96697,97743,97744,97745,97746,97747,97748,97749,97750,97751,97752,97753,97754,97755,97756,97757,97758,97759,97760,97761,97762,97763,97764,97795,97796,97797,97798,98052,98053,98149,98150,98153,98156,98762,98851,98852,98853,98854,98855,98856,98857,98858,99133,99141,99142,99151,99152,99169,99170,99248,99257,99262,99322,99323,99404,99405,99406,99407,99408,99409,99410,99411,100392,100433,100437,100677,100678,100679,100680,100681,100682,100683,100684,100685,100686,100687,100688,100689,100690,100691,100692,100693,100694))"
          }
        },
        {
          "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": "53.09",
              "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')))"
          }
        },
        {
          "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": 4,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.20",
              "eval_cost": "0.48",
              "prefix_cost": "54.77",
              "data_read_per_join": "76"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}