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 = 7156 
WHERE 
  cscart_products_categories.product_id IN (
    100769, 100770, 100771, 100772, 100773, 
    100774, 100775, 100776, 100777, 100778, 
    100779, 100780, 100781, 100782, 100783, 
    100784, 100785, 100786, 100787, 100788, 
    100841, 100842, 100843, 100844, 100845, 
    100846, 100847, 100848, 100853, 100854, 
    100855, 100856, 100863, 100864, 100865, 
    100866, 100871, 100872, 100873, 100874, 
    100875, 100876, 101054, 101656, 101657, 
    101658, 101659
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01524

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "120.91"
    },
    "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": 134,
            "rows_produced_per_join": 134,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "13.71",
              "eval_cost": "13.40",
              "prefix_cost": "27.11",
              "data_read_per_join": "2K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (100769,100770,100771,100772,100773,100774,100775,100776,100777,100778,100779,100780,100781,100782,100783,100784,100785,100786,100787,100788,100841,100842,100843,100844,100845,100846,100847,100848,100853,100854,100855,100856,100863,100864,100865,100866,100871,100872,100873,100874,100875,100876,101054,101656,101657,101658,101659))"
          }
        },
        {
          "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": 134,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "33.50",
              "eval_cost": "13.40",
              "prefix_cost": "74.01",
              "data_read_per_join": "2K"
            },
            "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": 6,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "33.50",
              "eval_cost": "0.67",
              "prefix_cost": "120.91",
              "data_read_per_join": "17K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}