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 = 7165 
WHERE 
  cscart_products_categories.product_id IN (
    96953, 96954, 96955, 96956, 96957, 96958, 
    96959, 96960, 96961, 96962, 96963, 
    96964, 96965, 96966, 96967, 96968, 
    96969, 96970, 96971, 96972, 96973, 
    96974, 96975, 96976, 96977, 96978, 
    96979, 96980, 96981, 96982, 96983, 
    96984, 96998, 98192, 98193, 98194, 
    98195, 98196, 98197, 98198, 98199, 
    98208, 98209, 98210, 98211, 98212, 
    98213, 98214, 98215, 98216, 98217, 
    98218, 98219, 98220, 98221, 98222, 
    98223, 98322, 98323, 98482, 98509, 
    98510, 98511, 98512, 98513, 98514, 
    98516, 98517, 98518, 98519, 98520, 
    98538, 98539, 98540, 98541, 98542, 
    98543, 98544, 98545, 98546, 98547, 
    98548, 98549, 98563, 98564, 98565, 
    98566, 98567, 98568, 98569, 98758, 
    98889, 98890, 98891, 98892, 98893
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01613

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "130.09"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "6.18"
      },
      "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": 6,
            "filtered": "0.63",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.62",
              "prefix_cost": "121.75",
              "data_read_per_join": "98"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (96953,96954,96955,96956,96957,96958,96959,96960,96961,96962,96963,96964,96965,96966,96967,96968,96969,96970,96971,96972,96973,96974,96975,96976,96977,96978,96979,96980,96981,96982,96983,96984,96998,98192,98193,98194,98195,98196,98197,98198,98199,98208,98209,98210,98211,98212,98213,98214,98215,98216,98217,98218,98219,98220,98221,98222,98223,98322,98323,98482,98509,98510,98511,98512,98513,98514,98516,98517,98518,98519,98520,98538,98539,98540,98541,98542,98543,98544,98545,98546,98547,98548,98549,98563,98564,98565,98566,98567,98568,98569,98758,98889,98890,98891,98892,98893))"
          }
        },
        {
          "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": 6,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.55",
              "eval_cost": "0.62",
              "prefix_cost": "123.91",
              "data_read_per_join": "98"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}