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 (
    93353, 93354, 93355, 93750, 93751, 93752, 
    93794, 93848, 93849, 93886, 93887, 
    93888, 93889, 93890, 93891, 93892, 
    93893, 94484, 94486, 94487, 94488, 
    94489, 94490, 94491, 94493, 94494, 
    94496, 94499, 94501, 94505, 94506, 
    94507, 94509, 94511, 94512, 94513, 
    94515, 94516, 94517, 94518, 94519, 
    94520, 94521, 94522, 94523, 94524, 
    94525, 94526, 94527, 94528, 94529, 
    94530, 94531, 94532, 94533, 94534, 
    94535, 94536, 94537, 94538, 94539, 
    94540, 94541, 94542, 94543, 94544, 
    94545, 94546, 94547, 94548, 94549, 
    94550, 94551, 94552, 94553, 94554, 
    94555, 94556, 94557, 94558, 94559, 
    94560, 94561, 94562, 94563, 94564, 
    94565, 94566, 94567, 94568, 94569, 
    94570, 94571, 94572, 94573, 94575
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.02079

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "135.34"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "10.07"
      },
      "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": "1.03",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.01",
              "prefix_cost": "121.75",
              "data_read_per_join": "161"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (93353,93354,93355,93750,93751,93752,93794,93848,93849,93886,93887,93888,93889,93890,93891,93892,93893,94484,94486,94487,94488,94489,94490,94491,94493,94494,94496,94499,94501,94505,94506,94507,94509,94511,94512,94513,94515,94516,94517,94518,94519,94520,94521,94522,94523,94524,94525,94526,94527,94528,94529,94530,94531,94532,94533,94534,94535,94536,94537,94538,94539,94540,94541,94542,94543,94544,94545,94546,94547,94548,94549,94550,94551,94552,94553,94554,94555,94556,94557,94558,94559,94560,94561,94562,94563,94564,94565,94566,94567,94568,94569,94570,94571,94572,94573,94575))"
          }
        },
        {
          "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": "2.52",
              "eval_cost": "1.01",
              "prefix_cost": "125.27",
              "data_read_per_join": "161"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}