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 = 7219 
WHERE 
  cscart_products_categories.product_id IN (
    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, 95582, 
    95583, 95584, 95585, 95586, 95587, 
    95588, 95589, 95590, 95591, 95629, 
    95630, 95631, 95632, 95633, 95634, 
    95635, 95636, 95637, 95639, 95641, 
    95642, 95643, 95644, 95647, 95648, 
    95649, 95650, 95651, 95652, 95654, 
    95934, 95935, 95937, 95938, 95939, 
    95941, 95942, 95943, 96206, 96207, 
    96208, 96341, 96342, 96343, 96344, 
    96345, 96346, 96347, 96348, 96601, 
    96602, 96603, 96604, 96605, 96606, 
    96607, 96608, 96609, 96610, 96611, 
    96612, 96613, 96614, 96615, 96616, 
    96617, 96618, 96619, 96620, 96621
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01635

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "138.59"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "12.48"
      },
      "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": 12,
            "filtered": "1.28",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.25",
              "prefix_cost": "121.75",
              "data_read_per_join": "199"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (94761,94762,94763,94764,94765,94816,94950,94951,95565,95566,95567,95568,95569,95570,95571,95572,95573,95574,95575,95576,95577,95578,95579,95580,95581,95582,95583,95584,95585,95586,95587,95588,95589,95590,95591,95629,95630,95631,95632,95633,95634,95635,95636,95637,95639,95641,95642,95643,95644,95647,95648,95649,95650,95651,95652,95654,95934,95935,95937,95938,95939,95941,95942,95943,96206,96207,96208,96341,96342,96343,96344,96345,96346,96347,96348,96601,96602,96603,96604,96605,96606,96607,96608,96609,96610,96611,96612,96613,96614,96615,96616,96617,96618,96619,96620,96621))"
          }
        },
        {
          "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": 12,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "3.12",
              "eval_cost": "1.25",
              "prefix_cost": "126.12",
              "data_read_per_join": "199"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}