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 (
    99807, 99808, 99809, 99810, 99811, 99812, 
    99813, 99814, 99815, 99816, 99817, 
    99818, 99819, 99820, 99821, 99822, 
    99823, 99824, 99825, 99826, 99827, 
    99828, 99829, 99830, 99831, 99835, 
    99836, 99837, 99838, 99885, 99886, 
    99887, 99888, 99889, 99890, 99891, 
    99892, 99919, 99920, 99921, 99922, 
    99923, 99924, 99925, 99926, 99927, 
    99928, 99929, 99930, 99931, 99996, 
    99997, 99998, 99999, 100000, 100001, 
    100002, 100005, 100006, 100007, 100008, 
    100009, 100010, 100011, 100012, 100058, 
    100059, 100060, 100061, 100062, 100063, 
    100064, 100065, 100066, 100073, 100074, 
    100075, 100076, 100077, 100078, 100079, 
    100080, 100081, 100082, 100083, 100084, 
    100085, 100086, 100087, 100088, 100089, 
    100090, 100091, 100092, 100093, 100094
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00223

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 (99807,99808,99809,99810,99811,99812,99813,99814,99815,99816,99817,99818,99819,99820,99821,99822,99823,99824,99825,99826,99827,99828,99829,99830,99831,99835,99836,99837,99838,99885,99886,99887,99888,99889,99890,99891,99892,99919,99920,99921,99922,99923,99924,99925,99926,99927,99928,99929,99930,99931,99996,99997,99998,99999,100000,100001,100002,100005,100006,100007,100008,100009,100010,100011,100012,100058,100059,100060,100061,100062,100063,100064,100065,100066,100073,100074,100075,100076,100077,100078,100079,100080,100081,100082,100083,100084,100085,100086,100087,100088,100089,100090,100091,100092,100093,100094))"
          }
        },
        {
          "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"
            ]
          }
        }
      ]
    }
  }
}