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 = 7158 
WHERE 
  cscart_products_categories.product_id IN (
    87994, 90317, 90319, 90320, 85645, 87388, 
    88390, 91428, 91430, 88395, 86887, 
    85581, 88389, 88391, 88388, 88095, 
    88392, 92408, 87993, 91427, 91429, 
    87387, 87389, 87383, 87384, 87385, 
    89612, 89613, 88393, 87386, 87382, 
    89611, 82328, 88860, 88861, 88862, 
    88863, 88864, 90819, 90820, 90821, 
    90822, 85563, 88929, 82434, 88858, 
    88859, 90817, 90818, 93790, 93791, 
    93842, 93843, 93844, 93845, 94119, 
    94120, 94121, 94122, 94123, 94124, 
    94125, 94126, 94127, 94128, 94129, 
    94130, 94131, 94132, 94133, 94134, 
    94135, 94136, 94137, 94138, 94139, 
    94457, 94619, 94620, 94621, 94622, 
    94623, 94624, 94625, 94626, 94627, 
    94628, 94629, 94630, 94631, 94632, 
    94633, 94634, 94635, 94636, 94637
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01650

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "130.88"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "6.76"
      },
      "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": "0.69",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.68",
              "prefix_cost": "121.75",
              "data_read_per_join": "108"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (87994,90317,90319,90320,85645,87388,88390,91428,91430,88395,86887,85581,88389,88391,88388,88095,88392,92408,87993,91427,91429,87387,87389,87383,87384,87385,89612,89613,88393,87386,87382,89611,82328,88860,88861,88862,88863,88864,90819,90820,90821,90822,85563,88929,82434,88858,88859,90817,90818,93790,93791,93842,93843,93844,93845,94119,94120,94121,94122,94123,94124,94125,94126,94127,94128,94129,94130,94131,94132,94133,94134,94135,94136,94137,94138,94139,94457,94619,94620,94621,94622,94623,94624,94625,94626,94627,94628,94629,94630,94631,94632,94633,94634,94635,94636,94637))"
          }
        },
        {
          "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": "1.69",
              "eval_cost": "0.68",
              "prefix_cost": "124.12",
              "data_read_per_join": "108"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}