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 (
    84768, 84781, 84790, 87503, 87513, 87519, 
    87529, 88442, 88451, 88459, 88468, 
    88476, 88484, 87462, 88173, 88221, 
    85671, 85691, 85703, 85715, 88521, 
    88552, 89838, 89890, 89962, 91528, 
    88445, 85679, 88496, 91438, 91452, 
    87516, 87532, 88448, 88465, 88481, 
    88793, 84763, 88784, 88142, 88145, 
    88171, 88219, 89103, 89111, 88069, 
    88785, 90830, 84772, 84785, 84794, 
    85668, 85688, 85700, 85712, 88550, 
    88593, 88769, 87546, 87549, 88402, 
    88405, 89786, 89836, 89888, 89960, 
    91526, 85676, 87535, 88398, 88491, 
    91433, 91447, 84776, 87878, 88443, 
    90816, 88697, 88744, 88075, 88197, 
    88209, 87515, 87531, 84696, 88938, 
    88549, 89018, 84699, 88516, 88519, 
    89109, 89116, 89784, 88195, 88207
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01789

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "136.92"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "11.24"
      },
      "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": 11,
            "filtered": "1.15",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.12",
              "prefix_cost": "121.75",
              "data_read_per_join": "179"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (84768,84781,84790,87503,87513,87519,87529,88442,88451,88459,88468,88476,88484,87462,88173,88221,85671,85691,85703,85715,88521,88552,89838,89890,89962,91528,88445,85679,88496,91438,91452,87516,87532,88448,88465,88481,88793,84763,88784,88142,88145,88171,88219,89103,89111,88069,88785,90830,84772,84785,84794,85668,85688,85700,85712,88550,88593,88769,87546,87549,88402,88405,89786,89836,89888,89960,91526,85676,87535,88398,88491,91433,91447,84776,87878,88443,90816,88697,88744,88075,88197,88209,87515,87531,84696,88938,88549,89018,84699,88516,88519,89109,89116,89784,88195,88207))"
          }
        },
        {
          "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": 11,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.81",
              "eval_cost": "1.12",
              "prefix_cost": "125.68",
              "data_read_per_join": "179"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}