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 (
    85657, 92212, 92213, 92214, 92215, 92217, 
    92223, 92465, 92466, 92191, 86388, 
    91350, 84100, 83093, 85549, 85550, 
    85565, 86221, 92228, 92229, 92230, 
    92231, 92237, 92469, 92470, 92471, 
    91348, 85585, 89180, 90074, 91892, 
    92150, 85653, 91361, 91363, 91391, 
    91393, 92197, 92457, 89727, 91362, 
    91364, 83096, 83098, 84102, 86385, 
    92240, 92245, 92247, 92248, 92249, 
    92250, 92252, 92253, 92485, 92486, 
    92487, 89738, 85578, 91392, 91394, 
    85655, 91359, 91389, 84104, 92010, 
    92098, 91360, 91357, 91387, 92241, 
    92242, 92243, 92244, 92246, 92251, 
    92483, 92484, 92440, 91358, 92186, 
    92187, 92188, 92189, 92190, 92441, 
    85652, 85656, 91390, 85582, 92488, 
    91388, 92476, 92477, 92478, 92479
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01086

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "135.92"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "10.50"
      },
      "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": "1.07",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.05",
              "prefix_cost": "121.75",
              "data_read_per_join": "167"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (85657,92212,92213,92214,92215,92217,92223,92465,92466,92191,86388,91350,84100,83093,85549,85550,85565,86221,92228,92229,92230,92231,92237,92469,92470,92471,91348,85585,89180,90074,91892,92150,85653,91361,91363,91391,91393,92197,92457,89727,91362,91364,83096,83098,84102,86385,92240,92245,92247,92248,92249,92250,92252,92253,92485,92486,92487,89738,85578,91392,91394,85655,91359,91389,84104,92010,92098,91360,91357,91387,92241,92242,92243,92244,92246,92251,92483,92484,92440,91358,92186,92187,92188,92189,92190,92441,85652,85656,91390,85582,92488,91388,92476,92477,92478,92479))"
          }
        },
        {
          "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": "2.62",
              "eval_cost": "1.05",
              "prefix_cost": "125.42",
              "data_read_per_join": "167"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}