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 (
    95369, 95370, 95371, 95372, 95373, 95374, 
    95375, 95377, 95378, 95379, 95380, 
    95381, 95382, 95383, 95384, 95385, 
    95386, 95387, 95388, 95389, 95390, 
    95391, 95392, 95393, 95402, 95403, 
    95404, 95405, 95406, 95407, 95408, 
    95409, 95410, 95411, 95412, 95413, 
    95414, 95415, 95416, 95417, 95418, 
    95419, 95420, 95421, 95422, 95423, 
    95442, 95448, 95556, 95557, 95565, 
    95566, 95567, 95568, 95569, 95570, 
    95571, 95572, 95573, 95574, 95575, 
    95576, 95577, 95578, 95579, 95580, 
    95581, 95582, 95583, 95584, 95585, 
    95586, 95587, 95588, 95589, 95590, 
    95591, 95592, 95593, 95594, 95595, 
    95596, 95597, 95598, 95599, 95600, 
    95601, 95602, 95603, 95604, 95605, 
    95606, 95607, 95608, 95609, 95610
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00107

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "98.50"
    },
    "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": 173,
            "rows_produced_per_join": 173,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "17.62",
              "eval_cost": "17.30",
              "prefix_cost": "34.92",
              "data_read_per_join": "2K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (95369,95370,95371,95372,95373,95374,95375,95377,95378,95379,95380,95381,95382,95383,95384,95385,95386,95387,95388,95389,95390,95391,95392,95393,95402,95403,95404,95405,95406,95407,95408,95409,95410,95411,95412,95413,95414,95415,95416,95417,95418,95419,95420,95421,95422,95423,95442,95448,95556,95557,95565,95566,95567,95568,95569,95570,95571,95572,95573,95574,95575,95576,95577,95578,95579,95580,95581,95582,95583,95584,95585,95586,95587,95588,95589,95590,95591,95592,95593,95594,95595,95596,95597,95598,95599,95600,95601,95602,95603,95604,95605,95606,95607,95608,95609,95610))"
          }
        },
        {
          "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": "43.25",
              "eval_cost": "0.87",
              "prefix_cost": "95.47",
              "data_read_per_join": "22K"
            },
            "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": "2.16",
              "eval_cost": "0.87",
              "prefix_cost": "98.50",
              "data_read_per_join": "138"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}