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 (
    100442, 100443, 100444, 100445, 100446, 
    100447, 100448, 100449, 100450, 100451, 
    100452, 100453, 100454, 100455, 100456, 
    100457, 100458, 100459, 100460, 100461, 
    100462, 100463, 100464, 100465, 100466, 
    100467, 100468, 100469, 100470, 100471, 
    100472, 100473, 100474, 100475, 100476, 
    100923, 100924, 100925, 100926, 100927, 
    100928, 100929, 100930, 100931, 100932, 
    100933, 100934, 100935, 100936, 100937, 
    100938, 100939, 100940, 100941, 100942, 
    100943, 100944, 100945, 100946, 100947, 
    100948, 100949, 100950, 100951, 100952, 
    100953, 100954, 100955, 100956, 100957, 
    100958, 100959, 100960, 100961, 100962, 
    100963, 100964, 100965, 100966, 100967, 
    100968, 100969, 100970, 100971, 100972, 
    100973, 100974, 100975, 100976, 100977, 
    100978, 100979, 100980, 100981, 100982, 
    100983
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01592

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "130.25"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "6.30"
      },
      "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": 6,
            "filtered": "0.64",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.63",
              "prefix_cost": "121.75",
              "data_read_per_join": "100"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (100442,100443,100444,100445,100446,100447,100448,100449,100450,100451,100452,100453,100454,100455,100456,100457,100458,100459,100460,100461,100462,100463,100464,100465,100466,100467,100468,100469,100470,100471,100472,100473,100474,100475,100476,100923,100924,100925,100926,100927,100928,100929,100930,100931,100932,100933,100934,100935,100936,100937,100938,100939,100940,100941,100942,100943,100944,100945,100946,100947,100948,100949,100950,100951,100952,100953,100954,100955,100956,100957,100958,100959,100960,100961,100962,100963,100964,100965,100966,100967,100968,100969,100970,100971,100972,100973,100974,100975,100976,100977,100978,100979,100980,100981,100982,100983))"
          }
        },
        {
          "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": 6,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.57",
              "eval_cost": "0.63",
              "prefix_cost": "123.95",
              "data_read_per_join": "100"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}