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 (
    98356, 98357, 98358, 98359, 98360, 98361, 
    98362, 98363, 98364, 98365, 98366, 
    98367, 98368, 98369, 98370, 98371, 
    98372, 98373, 98374, 98375, 98376, 
    98377, 98378, 98379, 98380, 98381, 
    98382, 98383, 98384, 98385, 98386, 
    98387, 98388, 98389, 98390, 98391, 
    98392, 98393, 98394, 98395, 98396, 
    98397, 98398, 98399, 98400, 98401, 
    98402, 98403, 98404, 98405, 98406, 
    98411, 98412, 98413, 98417, 98418, 
    98419, 98420, 98421, 98422, 98423, 
    98424, 98425, 98426, 98427, 98428, 
    98429, 98430, 98431, 98432, 98433, 
    98434, 98435, 98436, 98437, 98438, 
    98439, 98440, 98441, 98442, 98443, 
    98444, 98446, 98447, 98448, 98449, 
    98450, 98451, 98452, 98453, 98454, 
    98455, 98456, 98476, 98477, 98478
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01753

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "133.98"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "9.06"
      },
      "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": 9,
            "filtered": "0.93",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.91",
              "prefix_cost": "121.75",
              "data_read_per_join": "144"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (98356,98357,98358,98359,98360,98361,98362,98363,98364,98365,98366,98367,98368,98369,98370,98371,98372,98373,98374,98375,98376,98377,98378,98379,98380,98381,98382,98383,98384,98385,98386,98387,98388,98389,98390,98391,98392,98393,98394,98395,98396,98397,98398,98399,98400,98401,98402,98403,98404,98405,98406,98411,98412,98413,98417,98418,98419,98420,98421,98422,98423,98424,98425,98426,98427,98428,98429,98430,98431,98432,98433,98434,98435,98436,98437,98438,98439,98440,98441,98442,98443,98444,98446,98447,98448,98449,98450,98451,98452,98453,98454,98455,98456,98476,98477,98478))"
          }
        },
        {
          "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": 9,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.26",
              "eval_cost": "0.91",
              "prefix_cost": "124.92",
              "data_read_per_join": "144"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}