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 (
    95919, 95920, 95921, 95922, 95923, 95924, 
    95925, 95926, 95927, 95928, 95929, 
    95930, 95931, 95934, 95935, 95937, 
    95938, 95939, 95941, 95942, 95943, 
    95944, 95945, 95946, 96123, 96130, 
    96202, 96203, 96204, 96205, 96206, 
    96207, 96208, 96210, 96211, 96295, 
    96298, 96299, 96300, 96301, 96341, 
    96342, 96343, 96344, 96345, 96346, 
    96347, 96348, 96490, 96491, 96492, 
    96493, 96494, 96495, 96496, 96497, 
    96498, 96499, 96500, 96501, 96502, 
    96503, 96504, 96505, 96506, 96507, 
    96509, 96510, 96511, 96512, 96513, 
    96514, 96515, 96516, 96517, 96518, 
    96519, 96520, 96521, 96531, 96532, 
    96533, 96534, 96535, 96536, 96538, 
    96539, 96540, 96541, 96542, 96543, 
    96544, 96545, 96546, 96547, 96548
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00106

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "108.15"
    },
    "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": 190,
            "rows_produced_per_join": 190,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "19.33",
              "eval_cost": "19.00",
              "prefix_cost": "38.33",
              "data_read_per_join": "2K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (95919,95920,95921,95922,95923,95924,95925,95926,95927,95928,95929,95930,95931,95934,95935,95937,95938,95939,95941,95942,95943,95944,95945,95946,96123,96130,96202,96203,96204,96205,96206,96207,96208,96210,96211,96295,96298,96299,96300,96301,96341,96342,96343,96344,96345,96346,96347,96348,96490,96491,96492,96493,96494,96495,96496,96497,96498,96499,96500,96501,96502,96503,96504,96505,96506,96507,96509,96510,96511,96512,96513,96514,96515,96516,96517,96518,96519,96520,96521,96531,96532,96533,96534,96535,96536,96538,96539,96540,96541,96542,96543,96544,96545,96546,96547,96548))"
          }
        },
        {
          "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": 9,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "47.50",
              "eval_cost": "0.95",
              "prefix_cost": "104.83",
              "data_read_per_join": "24K"
            },
            "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": 9,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.38",
              "eval_cost": "0.95",
              "prefix_cost": "108.15",
              "data_read_per_join": "152"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}