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 = 7165 
WHERE 
  cscart_products_categories.product_id IN (
    98894, 98895, 98896, 98898, 98899, 98900, 
    98901, 98902, 98903, 98904, 98905, 
    98906, 98907, 98908, 98909, 99519, 
    99520, 99521, 99522, 99523, 99524, 
    99525, 99526, 99527, 100181, 100182, 
    100183, 100184, 100185, 100186, 100187, 
    100188, 100189, 100190, 100191, 100192, 
    100193, 100194, 100195, 100196, 100197, 
    100198, 100199, 100200, 100201, 100202, 
    100203, 100204, 100205, 100206, 100207, 
    100208, 100209, 100210, 100211, 100217, 
    100218, 100219, 100220, 100221, 100222, 
    100223, 100224, 100225, 100226, 100227, 
    100228, 100229, 100230, 100231, 100232, 
    100233, 100234, 100235, 100236, 100237, 
    100238, 100239, 100240, 100241, 100242, 
    100243, 100244, 100245, 100246, 100247, 
    100248, 100249, 100250, 100251, 100252, 
    100253, 100254, 100255, 100256, 100257
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01636

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "94.80"
    },
    "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": 105,
            "rows_produced_per_join": 105,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "10.80",
              "eval_cost": "10.50",
              "prefix_cost": "21.30",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (98894,98895,98896,98898,98899,98900,98901,98902,98903,98904,98905,98906,98907,98908,98909,99519,99520,99521,99522,99523,99524,99525,99526,99527,100181,100182,100183,100184,100185,100186,100187,100188,100189,100190,100191,100192,100193,100194,100195,100196,100197,100198,100199,100200,100201,100202,100203,100204,100205,100206,100207,100208,100209,100210,100211,100217,100218,100219,100220,100221,100222,100223,100224,100225,100226,100227,100228,100229,100230,100231,100232,100233,100234,100235,100236,100237,100238,100239,100240,100241,100242,100243,100244,100245,100246,100247,100248,100249,100250,100251,100252,100253,100254,100255,100256,100257))"
          }
        },
        {
          "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": 105,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "26.25",
              "eval_cost": "10.50",
              "prefix_cost": "58.05",
              "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": 5,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "26.25",
              "eval_cost": "0.53",
              "prefix_cost": "94.80",
              "data_read_per_join": "13K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}