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 = 7211 
WHERE 
  cscart_products_categories.product_id IN (
    85673, 85693, 85705, 85717, 87551, 88404, 
    88658, 88700, 88705, 88747, 87448, 
    87460, 88492, 88500, 89453, 89466, 
    89474, 89482, 91434, 91442, 91448, 
    91456, 84764, 85659, 85681, 89019, 
    89104, 89112, 88752, 88794, 88795, 
    87504, 87520, 88444, 88462, 88478, 
    89458, 85728, 85745, 85755, 85765, 
    90831, 88553, 89976, 89977, 89978, 
    87463, 87550, 88497, 91453, 85735, 
    84704, 84707, 91054, 88669, 88716, 
    84773, 84786, 84795, 89979, 89980, 
    89981, 88191, 88199, 88203, 88211, 
    84777, 87536, 88399, 88551, 88066, 
    88196, 88208, 88509, 88513, 88950, 
    88951, 88952, 88498, 88657, 88698, 
    88699, 88704, 88745, 88746, 91440, 
    91454, 85725, 85742, 85752, 85762, 
    88559, 85732, 88493, 91435, 91449
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01776

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "136.50"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "10.92"
      },
      "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": 10,
            "filtered": "1.12",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.09",
              "prefix_cost": "121.75",
              "data_read_per_join": "174"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (85673,85693,85705,85717,87551,88404,88658,88700,88705,88747,87448,87460,88492,88500,89453,89466,89474,89482,91434,91442,91448,91456,84764,85659,85681,89019,89104,89112,88752,88794,88795,87504,87520,88444,88462,88478,89458,85728,85745,85755,85765,90831,88553,89976,89977,89978,87463,87550,88497,91453,85735,84704,84707,91054,88669,88716,84773,84786,84795,89979,89980,89981,88191,88199,88203,88211,84777,87536,88399,88551,88066,88196,88208,88509,88513,88950,88951,88952,88498,88657,88698,88699,88704,88745,88746,91440,91454,85725,85742,85752,85762,88559,85732,88493,91435,91449))"
          }
        },
        {
          "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": 10,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.73",
              "eval_cost": "1.09",
              "prefix_cost": "125.57",
              "data_read_per_join": "174"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}