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 = 7184 
WHERE 
  cscart_products_categories.product_id IN (
    93782, 93783, 93784, 93785, 93786, 94026, 
    94027, 94028, 94029, 94030, 94031, 
    94032, 94033, 94074, 94075, 94428, 
    94452, 94453, 94454, 94455, 94456, 
    94458, 94459, 94460, 94461, 94462, 
    94709, 94717, 94718, 94719, 94720, 
    94721, 94722, 94723, 94724, 94725, 
    94726, 94727, 94728, 94729, 94730, 
    94731, 94732, 94733, 94734, 94735, 
    94736, 94737, 94738, 94739, 94740, 
    94741, 94742, 94743, 94744, 94745, 
    94746, 94747, 94748, 94749, 94750, 
    94751, 94752, 94753, 94754, 94755, 
    94756, 94757, 94758, 94759, 94760, 
    94761, 94762, 94763, 94764, 94765, 
    94816, 94950, 94951, 95565, 95566, 
    95567, 95568, 95569, 95570, 95571, 
    95572, 95573, 95574, 95575, 95576, 
    95577, 95578, 95579, 95580, 95581
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01660

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "133.19"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "8.48"
      },
      "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": 8,
            "filtered": "0.87",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.85",
              "prefix_cost": "121.75",
              "data_read_per_join": "135"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (93782,93783,93784,93785,93786,94026,94027,94028,94029,94030,94031,94032,94033,94074,94075,94428,94452,94453,94454,94455,94456,94458,94459,94460,94461,94462,94709,94717,94718,94719,94720,94721,94722,94723,94724,94725,94726,94727,94728,94729,94730,94731,94732,94733,94734,94735,94736,94737,94738,94739,94740,94741,94742,94743,94744,94745,94746,94747,94748,94749,94750,94751,94752,94753,94754,94755,94756,94757,94758,94759,94760,94761,94762,94763,94764,94765,94816,94950,94951,95565,95566,95567,95568,95569,95570,95571,95572,95573,95574,95575,95576,95577,95578,95579,95580,95581))"
          }
        },
        {
          "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": 8,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.12",
              "eval_cost": "0.85",
              "prefix_cost": "124.71",
              "data_read_per_join": "135"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}