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 = 7228 
WHERE 
  cscart_products_categories.product_id IN (
    96402, 96403, 96404, 96405, 96406, 96407, 
    96408, 96409, 96410, 96411, 96412, 
    96413, 96414, 96415, 96416, 96417, 
    96418, 96419, 96420, 96421, 96422, 
    96423, 96424, 96425, 96426, 96427, 
    96428, 96429, 96430, 96431, 96432, 
    96433, 96434, 96435, 96436, 96437, 
    96438, 96439, 96440, 96441, 96442, 
    96443, 96444, 96445, 96446, 96447, 
    96448, 96449, 96450, 96451, 96452, 
    96453, 96454, 96455, 96456, 96457, 
    96458, 96459, 96460, 96461, 96462, 
    96463, 96464, 96465, 96466, 96467, 
    96468, 96469, 96470, 96471, 96472, 
    96473, 96474, 96475, 96476, 96477, 
    96478, 96479, 96480, 96481, 96482, 
    96483, 96484, 96485, 96486, 96487, 
    96488, 96489, 97802, 97803, 97804, 
    97805, 97806, 97807, 97808, 97809
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01602

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "86.69"
    },
    "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 (96402,96403,96404,96405,96406,96407,96408,96409,96410,96411,96412,96413,96414,96415,96416,96417,96418,96419,96420,96421,96422,96423,96424,96425,96426,96427,96428,96429,96430,96431,96432,96433,96434,96435,96436,96437,96438,96439,96440,96441,96442,96443,96444,96445,96446,96447,96448,96449,96450,96451,96452,96453,96454,96455,96456,96457,96458,96459,96460,96461,96462,96463,96464,96465,96466,96467,96468,96469,96470,96471,96472,96473,96474,96475,96476,96477,96478,96479,96480,96481,96482,96483,96484,96485,96486,96487,96488,96489,97802,97803,97804,97805,97806,97807,97808,97809))"
          }
        },
        {
          "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": 96,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "24.00",
              "eval_cost": "9.60",
              "prefix_cost": "53.09",
              "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": "24.00",
              "eval_cost": "0.48",
              "prefix_cost": "86.69",
              "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')))"
          }
        }
      ]
    }
  }
}