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 = 7168 
WHERE 
  cscart_products_categories.product_id IN (
    95089, 95090, 95091, 95092, 95093, 95094, 
    95095, 95321, 95322, 95323, 95324, 
    95325, 95326, 95327, 95328, 95329, 
    95330, 95331, 95332, 95333, 95334, 
    95335, 95336, 95337, 95338, 95339, 
    95340, 95341, 95342, 95343, 95344, 
    95345, 95346, 95347, 95348, 95349, 
    95350, 95351, 95352, 95353, 95354, 
    95355, 95356, 95357, 95358, 95359, 
    95450, 95451, 95452, 95453, 95454, 
    95455, 95456, 95457, 95458, 95459, 
    95460, 95461, 95462, 95463, 95464, 
    95465, 95466, 95467, 95468, 95469, 
    95470, 95471, 95472, 95473, 95474, 
    95475, 95476, 95477, 95478, 95479, 
    95480, 95481, 95482, 95483, 95484, 
    95485, 95486, 95487, 95494, 95495, 
    95496, 95504, 95505, 95506, 95507, 
    95508, 95509, 95510, 95511, 95512
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00222

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 (95089,95090,95091,95092,95093,95094,95095,95321,95322,95323,95324,95325,95326,95327,95328,95329,95330,95331,95332,95333,95334,95335,95336,95337,95338,95339,95340,95341,95342,95343,95344,95345,95346,95347,95348,95349,95350,95351,95352,95353,95354,95355,95356,95357,95358,95359,95450,95451,95452,95453,95454,95455,95456,95457,95458,95459,95460,95461,95462,95463,95464,95465,95466,95467,95468,95469,95470,95471,95472,95473,95474,95475,95476,95477,95478,95479,95480,95481,95482,95483,95484,95485,95486,95487,95494,95495,95496,95504,95505,95506,95507,95508,95509,95510,95511,95512))"
          }
        },
        {
          "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"
            ]
          }
        }
      ]
    }
  }
}