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 = 7210 
WHERE 
  cscart_products_categories.product_id IN (
    97657, 97658, 97659, 97660, 97661, 97662, 
    97663, 97664, 97665, 97666, 97667, 
    97668, 97669, 97670, 97671, 97672, 
    97673, 97674, 97675, 97676, 97677, 
    97678, 97679, 97680, 97681, 97682, 
    97683, 97684, 97685, 97686, 97687, 
    97688, 97689, 97690, 97691, 97692, 
    97693, 97694, 97695, 97696, 97697, 
    97698, 97699, 97700, 97701, 97702, 
    97703, 97704, 97705, 97706, 97707, 
    97708, 97709, 97710, 97711, 97712, 
    98054, 98055, 98056, 98057, 98058, 
    98059, 98060, 98061, 98062, 98063, 
    98064, 98065, 98066, 98067, 98068, 
    98069, 98070, 98071, 98072, 98073, 
    98074, 98075, 98076, 98077, 98078, 
    98079, 98080, 98081, 98082, 98083, 
    98523, 98524, 98525, 98526, 98527, 
    98528, 98529, 98530, 98531, 98532
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00874

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "138.23"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "12.21"
      },
      "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": 12,
            "filtered": "1.25",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.22",
              "prefix_cost": "121.75",
              "data_read_per_join": "195"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (97657,97658,97659,97660,97661,97662,97663,97664,97665,97666,97667,97668,97669,97670,97671,97672,97673,97674,97675,97676,97677,97678,97679,97680,97681,97682,97683,97684,97685,97686,97687,97688,97689,97690,97691,97692,97693,97694,97695,97696,97697,97698,97699,97700,97701,97702,97703,97704,97705,97706,97707,97708,97709,97710,97711,97712,98054,98055,98056,98057,98058,98059,98060,98061,98062,98063,98064,98065,98066,98067,98068,98069,98070,98071,98072,98073,98074,98075,98076,98077,98078,98079,98080,98081,98082,98083,98523,98524,98525,98526,98527,98528,98529,98530,98531,98532))"
          }
        },
        {
          "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": 12,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "3.05",
              "eval_cost": "1.22",
              "prefix_cost": "126.02",
              "data_read_per_join": "195"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}