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 = 7229 
WHERE 
  cscart_products_categories.product_id IN (
    95985, 95986, 95987, 95988, 95989, 95990, 
    95991, 95992, 95993, 95994, 95995, 
    95996, 95997, 95998, 95999, 96000, 
    96001, 96002, 96003, 96004, 96005, 
    96006, 96007, 96008, 96009, 96010, 
    96011, 96012, 96013, 96014, 96015, 
    96016, 96017, 96018, 96019, 96020, 
    96021, 96022, 96023, 96024, 96025, 
    96026, 96027, 96028, 96029, 96030, 
    96031, 96032, 96033, 96034, 96035, 
    96036, 96037, 96038, 96039, 96040, 
    96041, 96042, 96043, 96044, 96045, 
    96046, 96047, 96048, 96049, 96105, 
    96106, 96107, 96108, 96109, 96110, 
    96111, 96112, 96113, 96114, 96115, 
    96116, 96350, 96351, 96352, 96353, 
    96354, 96355, 96356, 96357, 96358, 
    96359, 96360, 96361, 96362, 96363, 
    96364, 96365, 96366, 96367, 96368
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00225

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 (95985,95986,95987,95988,95989,95990,95991,95992,95993,95994,95995,95996,95997,95998,95999,96000,96001,96002,96003,96004,96005,96006,96007,96008,96009,96010,96011,96012,96013,96014,96015,96016,96017,96018,96019,96020,96021,96022,96023,96024,96025,96026,96027,96028,96029,96030,96031,96032,96033,96034,96035,96036,96037,96038,96039,96040,96041,96042,96043,96044,96045,96046,96047,96048,96049,96105,96106,96107,96108,96109,96110,96111,96112,96113,96114,96115,96116,96350,96351,96352,96353,96354,96355,96356,96357,96358,96359,96360,96361,96362,96363,96364,96365,96366,96367,96368))"
          }
        },
        {
          "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"
            ]
          }
        }
      ]
    }
  }
}