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 (
    86035, 86036, 86037, 86038, 86039, 86040, 
    86041, 86042, 86043, 86044, 86045, 
    86046, 86047, 86048, 86049, 86050, 
    86051, 86052, 86053, 86054, 86055, 
    86056, 86057, 86058, 86059, 86060, 
    86062, 86064, 86065, 86066, 86068, 
    85542, 85603, 86252, 86342, 92475, 
    82358, 85547, 85569, 88860, 88861, 
    88862, 88863, 88864, 90819, 90820, 
    90821, 90822, 91876, 82387, 85040, 
    85563, 86332, 91312, 91314, 91316, 
    86077, 86078, 88929, 90263, 90270, 
    82434, 85545, 88858, 88859, 90817, 
    90818, 90269, 90275, 92357, 85568, 
    90265, 85041, 85544, 84237, 85548, 
    85558, 82388, 82365, 84752, 92593, 
    92594, 92595, 92596, 92893, 92894, 
    92913, 92914, 92915, 92916, 92917, 
    92918, 92919, 92920, 92921, 93002
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00559

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "135.45"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "10.15"
      },
      "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": 10,
            "filtered": "1.04",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.01",
              "prefix_cost": "121.75",
              "data_read_per_join": "162"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (86035,86036,86037,86038,86039,86040,86041,86042,86043,86044,86045,86046,86047,86048,86049,86050,86051,86052,86053,86054,86055,86056,86057,86058,86059,86060,86062,86064,86065,86066,86068,85542,85603,86252,86342,92475,82358,85547,85569,88860,88861,88862,88863,88864,90819,90820,90821,90822,91876,82387,85040,85563,86332,91312,91314,91316,86077,86078,88929,90263,90270,82434,85545,88858,88859,90817,90818,90269,90275,92357,85568,90265,85041,85544,84237,85548,85558,82388,82365,84752,92593,92594,92595,92596,92893,92894,92913,92914,92915,92916,92917,92918,92919,92920,92921,93002))"
          }
        },
        {
          "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": 10,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.54",
              "eval_cost": "1.01",
              "prefix_cost": "125.30",
              "data_read_per_join": "162"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}