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 = 7237 
WHERE 
  cscart_products_categories.product_id IN (
    96579, 96580, 96581, 96582, 96583, 96584, 
    96585, 96586, 96587, 96588, 96589, 
    96590, 96591, 96592, 96593, 96594, 
    96595, 96596, 96597, 96598, 96599, 
    96600, 96677, 96679, 96684, 96685, 
    96693, 98445, 98682, 99369, 99370, 
    99371, 99372, 99373, 99399, 99400, 
    99401, 99402, 99403, 99507, 99511, 
    99515, 100361, 100362, 100363, 100364, 
    100365, 100366, 100367, 100368, 100369, 
    100370, 100371, 100372, 100373, 100384, 
    100385, 100540, 100541, 100542, 100543, 
    100544, 100545, 100546, 100547, 100548, 
    100549, 100550, 100551, 100552, 100553, 
    100554, 100555, 100556, 100557, 100558, 
    100559, 100560, 100561, 100562, 100563, 
    100564, 100565, 100566, 100567, 100568, 
    100569, 100570, 100571, 100572, 100573, 
    100574, 100575, 100576, 100577, 100578
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01902

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "86.69"
    },
    "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 (96579,96580,96581,96582,96583,96584,96585,96586,96587,96588,96589,96590,96591,96592,96593,96594,96595,96596,96597,96598,96599,96600,96677,96679,96684,96685,96693,98445,98682,99369,99370,99371,99372,99373,99399,99400,99401,99402,99403,99507,99511,99515,100361,100362,100363,100364,100365,100366,100367,100368,100369,100370,100371,100372,100373,100384,100385,100540,100541,100542,100543,100544,100545,100546,100547,100548,100549,100550,100551,100552,100553,100554,100555,100556,100557,100558,100559,100560,100561,100562,100563,100564,100565,100566,100567,100568,100569,100570,100571,100572,100573,100574,100575,100576,100577,100578))"
          }
        },
        {
          "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": 96,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "24.00",
              "eval_cost": "9.60",
              "prefix_cost": "53.09",
              "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": "24.00",
              "eval_cost": "0.48",
              "prefix_cost": "86.69",
              "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')))"
          }
        }
      ]
    }
  }
}