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 (
    98533, 98534, 98535, 98536, 98537, 98557, 
    98558, 98559, 98587, 98588, 98589, 
    98773, 98774, 98775, 98776, 98777, 
    98778, 98779, 98780, 98781, 98782, 
    98783, 98784, 98785, 98786, 98787, 
    98788, 98789, 98790, 98791, 98792, 
    98793, 98794, 98795, 98796, 98797, 
    98798, 98799, 98800, 98801, 98802, 
    98803, 98804, 98805, 98806, 98807, 
    98808, 98809, 98810, 98811, 98812, 
    98813, 98814, 98874, 98875, 98876, 
    98877, 98878, 98879, 98880, 98881, 
    98886, 98887, 98888, 99056, 99057, 
    99058, 99059, 99060, 99061, 99062, 
    99063, 99064, 99065, 99067, 99077, 
    99078, 99081, 99082, 99110, 99111, 
    99112, 99113, 99114, 99115, 99116, 
    99117, 99118, 99119, 99120, 99121, 
    99122, 99123, 99124, 99125, 99126
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00685

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "138.07"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "12.09"
      },
      "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": "1.24",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.21",
              "prefix_cost": "121.75",
              "data_read_per_join": "193"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (98533,98534,98535,98536,98537,98557,98558,98559,98587,98588,98589,98773,98774,98775,98776,98777,98778,98779,98780,98781,98782,98783,98784,98785,98786,98787,98788,98789,98790,98791,98792,98793,98794,98795,98796,98797,98798,98799,98800,98801,98802,98803,98804,98805,98806,98807,98808,98809,98810,98811,98812,98813,98814,98874,98875,98876,98877,98878,98879,98880,98881,98886,98887,98888,99056,99057,99058,99059,99060,99061,99062,99063,99064,99065,99067,99077,99078,99081,99082,99110,99111,99112,99113,99114,99115,99116,99117,99118,99119,99120,99121,99122,99123,99124,99125,99126))"
          }
        },
        {
          "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": "3.02",
              "eval_cost": "1.21",
              "prefix_cost": "125.98",
              "data_read_per_join": "193"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}