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 (
    85601, 85602, 86335, 86339, 90272, 92172, 
    82395, 86076, 86079, 86080, 87382, 
    89611, 90794, 92358, 92359, 92360, 
    92361, 92362, 92363, 92364, 86370, 
    82366, 85560, 85566, 85587, 85588, 
    85604, 85641, 86331, 89988, 90271, 
    90795, 91848, 91888, 82328, 82393, 
    85562, 86330, 86333, 86334, 86338, 
    85974, 85975, 85977, 85978, 85979, 
    85980, 85981, 85982, 85983, 85984, 
    85985, 85986, 85987, 85988, 85989, 
    85990, 85991, 85992, 85993, 85994, 
    85995, 85996, 85997, 85998, 85999, 
    86003, 86004, 86005, 86006, 86007, 
    86008, 86009, 86010, 86011, 86012, 
    86014, 86015, 86017, 86018, 86019, 
    86020, 86021, 86022, 86023, 86024, 
    86025, 86026, 86027, 86028, 86029, 
    86030, 86031, 86032, 86033, 86034
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00571

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "136.55"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "10.96"
      },
      "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": "1.12",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.10",
              "prefix_cost": "121.75",
              "data_read_per_join": "175"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (85601,85602,86335,86339,90272,92172,82395,86076,86079,86080,87382,89611,90794,92358,92359,92360,92361,92362,92363,92364,86370,82366,85560,85566,85587,85588,85604,85641,86331,89988,90271,90795,91848,91888,82328,82393,85562,86330,86333,86334,86338,85974,85975,85977,85978,85979,85980,85981,85982,85983,85984,85985,85986,85987,85988,85989,85990,85991,85992,85993,85994,85995,85996,85997,85998,85999,86003,86004,86005,86006,86007,86008,86009,86010,86011,86012,86014,86015,86017,86018,86019,86020,86021,86022,86023,86024,86025,86026,86027,86028,86029,86030,86031,86032,86033,86034))"
          }
        },
        {
          "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": "2.74",
              "eval_cost": "1.10",
              "prefix_cost": "125.59",
              "data_read_per_join": "175"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}