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 = 7184 
WHERE 
  cscart_products_categories.product_id IN (
    92480, 92481, 92482, 86386, 86891, 90068, 
    92002, 92090, 91868, 89601, 92227, 
    92210, 83090, 84097, 85554, 85577, 
    85570, 89529, 83945, 89598, 85552, 
    89600, 85576, 85584, 85543, 85592, 
    92239, 85571, 85573, 85574, 91877, 
    91878, 91879, 91880, 91881, 91882, 
    91883, 85555, 85594, 85564, 90025, 
    85575, 86889, 87888, 92185, 85561, 
    85591, 85597, 85600, 90310, 90755, 
    86893, 85553, 85556, 85557, 85559, 
    85589, 85593, 85601, 85602, 85560, 
    85587, 85588, 85604, 85562, 85542, 
    85603, 92475, 85547, 85569, 91876, 
    85545, 85868, 85870, 85871, 85568, 
    85544, 84237, 85548, 85558, 92838, 
    92839, 92895, 92896, 92897, 92898, 
    92899, 92900, 92901, 92902, 92903, 
    92904, 92905, 92906, 92907, 92908
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01809

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "136.02"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "10.57"
      },
      "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": "1.08",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.06",
              "prefix_cost": "121.75",
              "data_read_per_join": "169"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (92480,92481,92482,86386,86891,90068,92002,92090,91868,89601,92227,92210,83090,84097,85554,85577,85570,89529,83945,89598,85552,89600,85576,85584,85543,85592,92239,85571,85573,85574,91877,91878,91879,91880,91881,91882,91883,85555,85594,85564,90025,85575,86889,87888,92185,85561,85591,85597,85600,90310,90755,86893,85553,85556,85557,85559,85589,85593,85601,85602,85560,85587,85588,85604,85562,85542,85603,92475,85547,85569,91876,85545,85868,85870,85871,85568,85544,84237,85548,85558,92838,92839,92895,92896,92897,92898,92899,92900,92901,92902,92903,92904,92905,92906,92907,92908))"
          }
        },
        {
          "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": "2.64",
              "eval_cost": "1.06",
              "prefix_cost": "125.45",
              "data_read_per_join": "169"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}