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 (
    97796, 97797, 97798, 98052, 98053, 98149, 
    98150, 98153, 98156, 98762, 98851, 
    98852, 98853, 98854, 98855, 98856, 
    98857, 98858, 99133, 99141, 99142, 
    99151, 99152, 99169, 99170, 99248, 
    99257, 99262, 99322, 99323, 99404, 
    99405, 99406, 99407, 99408, 99409, 
    99410, 99411, 100143, 100392, 100433, 
    100436, 100437, 100677, 100678, 100679, 
    100680, 100681, 100682, 100683, 100684, 
    100685, 100686, 100687, 100688, 100689, 
    100690, 100691, 100692, 100693, 100694, 
    100695, 101011, 101012, 101013, 101014, 
    101015, 101016, 101017, 101018, 101019, 
    101020, 101021, 101625, 101684, 101685, 
    101686, 101687, 101694, 101695, 101963
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01599

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "85.79"
    },
    "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": 95,
            "rows_produced_per_join": 95,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "9.79",
              "eval_cost": "9.50",
              "prefix_cost": "19.29",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (97796,97797,97798,98052,98053,98149,98150,98153,98156,98762,98851,98852,98853,98854,98855,98856,98857,98858,99133,99141,99142,99151,99152,99169,99170,99248,99257,99262,99322,99323,99404,99405,99406,99407,99408,99409,99410,99411,100143,100392,100433,100436,100437,100677,100678,100679,100680,100681,100682,100683,100684,100685,100686,100687,100688,100689,100690,100691,100692,100693,100694,100695,101011,101012,101013,101014,101015,101016,101017,101018,101019,101020,101021,101625,101684,101685,101686,101687,101694,101695,101963))"
          }
        },
        {
          "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": 95,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "23.75",
              "eval_cost": "9.50",
              "prefix_cost": "52.54",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        },
        {
          "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": "23.75",
              "eval_cost": "0.48",
              "prefix_cost": "85.79",
              "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')))"
          }
        }
      ]
    }
  }
}