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 (
    93890, 93891, 93892, 93893, 94023, 94073, 
    94117, 94119, 94120, 94121, 94122, 
    94123, 94124, 94125, 94126, 94127, 
    94128, 94129, 94130, 94131, 94132, 
    94133, 94134, 94135, 94136, 94137, 
    94138, 94139, 94140, 94141, 94142, 
    94143, 94144, 94145, 94146, 94147, 
    94148, 94149, 94150, 94151, 94152, 
    94153, 94154, 94155, 94156, 94157, 
    94158, 94159, 94160, 94381, 94428, 
    94452, 94453, 94454, 94455, 94456, 
    94457, 94458, 94459, 94460, 94461, 
    94462, 94558, 94559, 94560, 94561, 
    94562, 94563, 94564, 94565, 94566, 
    94567, 94568, 94569, 94570, 94571, 
    94572, 94583, 94584, 94585, 94586, 
    94587, 94588, 94604, 94605, 94606, 
    94607, 94608, 94609, 94610, 94611, 
    94612, 94613, 94614, 94615, 94616
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00906

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "133.77"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "8.90"
      },
      "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": 8,
            "filtered": "0.91",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.89",
              "prefix_cost": "121.75",
              "data_read_per_join": "142"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (93890,93891,93892,93893,94023,94073,94117,94119,94120,94121,94122,94123,94124,94125,94126,94127,94128,94129,94130,94131,94132,94133,94134,94135,94136,94137,94138,94139,94140,94141,94142,94143,94144,94145,94146,94147,94148,94149,94150,94151,94152,94153,94154,94155,94156,94157,94158,94159,94160,94381,94428,94452,94453,94454,94455,94456,94457,94458,94459,94460,94461,94462,94558,94559,94560,94561,94562,94563,94564,94565,94566,94567,94568,94569,94570,94571,94572,94583,94584,94585,94586,94587,94588,94604,94605,94606,94607,94608,94609,94610,94611,94612,94613,94614,94615,94616))"
          }
        },
        {
          "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": "2.23",
              "eval_cost": "0.89",
              "prefix_cost": "124.86",
              "data_read_per_join": "142"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}