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 = 7148 
WHERE 
  cscart_products_categories.product_id IN (
    94617, 94618, 94619, 94620, 94621, 94622, 
    94623, 94624, 94625, 94626, 94627, 
    94628, 94629, 94630, 94631, 94632, 
    94633, 94634, 94635, 94636, 94637, 
    94638, 94639, 94640, 94654, 94655, 
    94656, 94657, 94658, 94666, 94667, 
    94668, 94669, 94670, 94671, 94672, 
    94673, 94674, 94694, 94695, 94696, 
    94697, 94698, 94699, 94700, 94701, 
    94702, 94707, 94708, 94750, 94751, 
    94752, 94753, 94754, 94755, 94756, 
    94757, 94758, 94759, 94760, 94761, 
    94762, 94763, 94764, 94765, 94816, 
    94822, 94839, 94840, 94841, 94844, 
    94845, 94846, 94847, 94848, 94950, 
    94951, 94952, 94953, 94954, 94955, 
    94958, 95310, 95311, 95314, 95317, 
    95319, 95320, 95361, 95362, 95363, 
    95364, 95365, 95366, 95367, 95368
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00107

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "93.96"
    },
    "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": 165,
            "rows_produced_per_join": 165,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "16.82",
              "eval_cost": "16.50",
              "prefix_cost": "33.32",
              "data_read_per_join": "2K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (94617,94618,94619,94620,94621,94622,94623,94624,94625,94626,94627,94628,94629,94630,94631,94632,94633,94634,94635,94636,94637,94638,94639,94640,94654,94655,94656,94657,94658,94666,94667,94668,94669,94670,94671,94672,94673,94674,94694,94695,94696,94697,94698,94699,94700,94701,94702,94707,94708,94750,94751,94752,94753,94754,94755,94756,94757,94758,94759,94760,94761,94762,94763,94764,94765,94816,94822,94839,94840,94841,94844,94845,94846,94847,94848,94950,94951,94952,94953,94954,94955,94958,95310,95311,95314,95317,95319,95320,95361,95362,95363,95364,95365,95366,95367,95368))"
          }
        },
        {
          "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": 8,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "41.25",
              "eval_cost": "0.83",
              "prefix_cost": "91.07",
              "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": "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": 8,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.06",
              "eval_cost": "0.83",
              "prefix_cost": "93.96",
              "data_read_per_join": "132"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}