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 = 7194 
WHERE 
  cscart_products_categories.product_id IN (
    96202, 96203, 96204, 96205, 96210, 96211, 
    96510, 96511, 96512, 96513, 96514, 
    96515, 96516, 96517, 96518, 96519, 
    96520, 96521, 96538, 96539, 96540, 
    96541, 96542, 96543, 96544, 96545, 
    96546, 96547, 96548, 96549, 96550, 
    96551, 96552, 96553, 96554, 96555, 
    96556, 96557, 96558, 97728, 97729, 
    97730, 97731, 97732, 97733, 97734, 
    97735, 97736, 97737, 97738, 97739, 
    97740, 97741, 97742, 97778, 97779, 
    97780, 97781, 97782, 97790, 97791, 
    97792, 97793, 97794, 98002, 98003, 
    98004, 98005, 98006, 98007, 98008, 
    98009, 98010, 98011, 98012, 98013, 
    98014, 98015, 98016, 98017, 98018, 
    98019, 98020, 98021, 98022, 98023, 
    98831, 98832, 98833, 98834, 98835, 
    98836, 98837, 98838, 98839, 98840
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00240

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 (96202,96203,96204,96205,96210,96211,96510,96511,96512,96513,96514,96515,96516,96517,96518,96519,96520,96521,96538,96539,96540,96541,96542,96543,96544,96545,96546,96547,96548,96549,96550,96551,96552,96553,96554,96555,96556,96557,96558,97728,97729,97730,97731,97732,97733,97734,97735,97736,97737,97738,97739,97740,97741,97742,97778,97779,97780,97781,97782,97790,97791,97792,97793,97794,98002,98003,98004,98005,98006,98007,98008,98009,98010,98011,98012,98013,98014,98015,98016,98017,98018,98019,98020,98021,98022,98023,98831,98832,98833,98834,98835,98836,98837,98838,98839,98840))"
          }
        },
        {
          "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"
            ]
          }
        }
      ]
    }
  }
}