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 = 7313 
WHERE 
  cscart_products_categories.product_id IN (
    86891, 91868, 92227, 92210, 85554, 85577, 
    85570, 85576, 85584, 85543, 85592, 
    92239, 85571, 85573, 85574, 91877, 
    91878, 91879, 91880, 91881, 91882, 
    91883, 85555, 85594, 85564, 90025, 
    85575, 86889, 87888, 92185, 85561, 
    85591, 85597, 85600, 90755, 86893, 
    85553, 85556, 85557, 85559, 85589, 
    85593, 85601, 85602, 85560, 85587, 
    85588, 85604, 85562, 85542, 85603, 
    92475, 85547, 85569, 91876, 85545, 
    85568, 85544, 84237, 85548, 85558, 
    93282, 93283, 93284, 93285, 93286, 
    93287, 93288, 93289, 93290, 93291, 
    93294, 93338, 93339, 94428, 94452, 
    94453, 94454, 94455, 94456, 94458, 
    94459, 94460, 94461, 94462, 94750, 
    94751, 94752, 94753, 94754, 94755, 
    94756, 94757, 94758, 94759, 94760
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01996

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "139.96"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "13.49"
      },
      "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": 13,
            "filtered": "1.38",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.35",
              "prefix_cost": "121.75",
              "data_read_per_join": "215"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (86891,91868,92227,92210,85554,85577,85570,85576,85584,85543,85592,92239,85571,85573,85574,91877,91878,91879,91880,91881,91882,91883,85555,85594,85564,90025,85575,86889,87888,92185,85561,85591,85597,85600,90755,86893,85553,85556,85557,85559,85589,85593,85601,85602,85560,85587,85588,85604,85562,85542,85603,92475,85547,85569,91876,85545,85568,85544,84237,85548,85558,93282,93283,93284,93285,93286,93287,93288,93289,93290,93291,93294,93338,93339,94428,94452,94453,94454,94455,94456,94458,94459,94460,94461,94462,94750,94751,94752,94753,94754,94755,94756,94757,94758,94759,94760))"
          }
        },
        {
          "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": 13,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "3.37",
              "eval_cost": "1.35",
              "prefix_cost": "126.47",
              "data_read_per_join": "215"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}