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 = 7198 
WHERE 
  cscart_products_categories.product_id IN (
    94450, 94504, 94796, 94797, 94802, 94803, 
    94804, 94805, 94806, 94807, 94808, 
    94809, 94810, 94825, 94826, 94832, 
    94842, 95312, 95313, 95555, 95556, 
    95737, 95738, 95739, 95740, 95741, 
    95742, 95753, 95754, 95755, 95765, 
    95786, 95787, 95788, 95819, 95820, 
    95885, 95886, 95887, 95888, 96117, 
    96118, 96176, 96529, 96569, 97628, 
    98036, 98037, 98038, 98229, 98230, 
    98231, 98232, 98233, 98324, 98325, 
    98326, 98416, 98502, 98882, 98883, 
    98884, 98885, 99136, 99137, 99138, 
    99139, 99140, 99145, 99146, 99147, 
    99148, 99149, 99150, 99153, 99154, 
    99155, 99156, 99157, 99158, 99159, 
    99160, 99161, 99167, 99181, 99185, 
    99186, 99187, 99188, 99195, 99196, 
    99201, 99202, 99205, 99210, 99211
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01577

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "88.49"
    },
    "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": 98,
            "rows_produced_per_join": 98,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "10.10",
              "eval_cost": "9.80",
              "prefix_cost": "19.90",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (94450,94504,94796,94797,94802,94803,94804,94805,94806,94807,94808,94809,94810,94825,94826,94832,94842,95312,95313,95555,95556,95737,95738,95739,95740,95741,95742,95753,95754,95755,95765,95786,95787,95788,95819,95820,95885,95886,95887,95888,96117,96118,96176,96529,96569,97628,98036,98037,98038,98229,98230,98231,98232,98233,98324,98325,98326,98416,98502,98882,98883,98884,98885,99136,99137,99138,99139,99140,99145,99146,99147,99148,99149,99150,99153,99154,99155,99156,99157,99158,99159,99160,99161,99167,99181,99185,99186,99187,99188,99195,99196,99201,99202,99205,99210,99211))"
          }
        },
        {
          "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": 98,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "24.50",
              "eval_cost": "9.80",
              "prefix_cost": "54.20",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        },
        {
          "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": "24.50",
              "eval_cost": "0.49",
              "prefix_cost": "88.50",
              "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')))"
          }
        }
      ]
    }
  }
}