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 (
    97916, 97917, 97918, 97919, 97920, 97921, 
    97922, 97923, 97924, 97925, 97926, 
    97927, 97928, 97929, 97930, 97931, 
    97932, 97933, 97934, 97935, 97936, 
    97937, 97938, 97939, 97940, 97941, 
    97942, 97943, 97944, 97945, 97946, 
    97947, 97948, 97949, 97950, 97951, 
    97952, 97960, 97961, 97962, 97963, 
    97964, 97965, 97966, 97967, 97968, 
    97969, 97970, 97971, 97972, 97973, 
    97974, 97975, 97976, 97977, 97978, 
    97979, 97980, 97981, 97982, 97983, 
    97984, 97985, 97986, 97987, 98001, 
    98040, 98041, 98042, 98043, 98044, 
    98045, 98046, 98047, 98048, 98049, 
    98050, 98051, 98084, 98085, 98086, 
    98087, 98088, 98089, 98090, 98091, 
    98092, 98093, 98094, 98095, 98096, 
    98097, 98098, 98099, 98100, 98101
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00228

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "56.48"
    },
    "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": 99,
            "rows_produced_per_join": 99,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "10.20",
              "eval_cost": "9.90",
              "prefix_cost": "20.10",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (97916,97917,97918,97919,97920,97921,97922,97923,97924,97925,97926,97927,97928,97929,97930,97931,97932,97933,97934,97935,97936,97937,97938,97939,97940,97941,97942,97943,97944,97945,97946,97947,97948,97949,97950,97951,97952,97960,97961,97962,97963,97964,97965,97966,97967,97968,97969,97970,97971,97972,97973,97974,97975,97976,97977,97978,97979,97980,97981,97982,97983,97984,97985,97986,97987,98001,98040,98041,98042,98043,98044,98045,98046,98047,98048,98049,98050,98051,98084,98085,98086,98087,98088,98089,98090,98091,98092,98093,98094,98095,98096,98097,98098,98099,98100,98101))"
          }
        },
        {
          "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": "24.75",
              "eval_cost": "0.50",
              "prefix_cost": "54.75",
              "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')))"
          }
        },
        {
          "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": 4,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.24",
              "eval_cost": "0.50",
              "prefix_cost": "56.48",
              "data_read_per_join": "79"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}