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 = 7231 
WHERE 
  cscart_products_categories.product_id IN (
    95225, 95226, 95228, 95229, 95231, 95233, 
    95235, 95237, 95239, 95241, 95243, 
    95245, 95970, 95971, 95972, 95973, 
    95974, 95975, 95976, 96051, 96053, 
    96055, 96057, 96059, 96061, 96062, 
    96064, 96066, 96068, 96070, 96072, 
    96074, 96076, 96078, 96082, 96083, 
    96086, 96087, 96090, 96091, 96094, 
    96095, 96098, 96099, 96102, 96103, 
    96383, 96384, 96385, 96386, 96387, 
    96388, 96389, 96390, 96391, 96398, 
    96399, 96400, 98600, 98601, 98603, 
    98607, 98609, 98611, 98612, 98613, 
    98616, 98626, 98628, 98630, 98631, 
    98632, 98633, 98635, 98637, 98639, 
    98640, 98641, 98644, 98645, 98646, 
    98647, 98649, 98650, 98652, 98653, 
    98657, 98658, 98659, 98661, 98663, 
    98665, 98666, 98667, 98668, 98669
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00223

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "54.77"
    },
    "grouping_operation": {
      "using_filesort": false,
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_products_categories",
            "access_type": "range",
            "possible_keys": [
              "PRIMARY",
              "link_type",
              "pt"
            ],
            "key": "pt",
            "used_key_parts": [
              "product_id"
            ],
            "key_length": "3",
            "rows_examined_per_scan": 96,
            "rows_produced_per_join": 96,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "9.89",
              "eval_cost": "9.60",
              "prefix_cost": "19.49",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (95225,95226,95228,95229,95231,95233,95235,95237,95239,95241,95243,95245,95970,95971,95972,95973,95974,95975,95976,96051,96053,96055,96057,96059,96061,96062,96064,96066,96068,96070,96072,96074,96076,96078,96082,96083,96086,96087,96090,96091,96094,96095,96098,96099,96102,96103,96383,96384,96385,96386,96387,96388,96389,96390,96391,96398,96399,96400,98600,98601,98603,98607,98609,98611,98612,98613,98616,98626,98628,98630,98631,98632,98633,98635,98637,98639,98640,98641,98644,98645,98646,98647,98649,98650,98652,98653,98657,98658,98659,98661,98663,98665,98666,98667,98668,98669))"
          }
        },
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "eq_ref",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "p_category_id"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id"
            ],
            "key_length": "3",
            "ref": [
              "nuie_scalesta_net.cscart_products_categories.category_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 4,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "24.00",
              "eval_cost": "0.48",
              "prefix_cost": "53.09",
              "data_read_per_join": "12K"
            },
            "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": "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": 4,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.20",
              "eval_cost": "0.48",
              "prefix_cost": "54.77",
              "data_read_per_join": "76"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}