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 (
    93003, 93004, 93005, 93006, 93007, 93008, 
    93009, 93010, 93011, 93012, 93013, 
    93014, 93015, 93282, 93283, 93284, 
    93285, 93286, 93287, 93288, 93289, 
    93290, 93291, 93294, 93338, 93339, 
    93341, 93342, 93343, 93344, 93345, 
    93346, 93347, 93348, 93349, 93350, 
    93351, 93352, 93353, 93354, 93355, 
    93356, 93357, 93358, 93750, 93751, 
    93752, 93753, 93754, 93755, 93756, 
    93757, 93758, 93759, 93760, 93761, 
    93762, 93763, 93764, 93765, 93766, 
    93767, 93768, 93769, 93770, 93771, 
    93772, 93773, 93774, 93775, 93776, 
    93777, 93778, 93779, 93780, 93790, 
    93791, 93825, 93826, 93827, 93828, 
    93829, 93842, 93843, 93844, 93845, 
    93848, 93849, 93868, 93869, 93870, 
    93871, 93886, 93887, 93888, 93889
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00544

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "134.76"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "9.64"
      },
      "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": 9,
            "filtered": "0.99",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.96",
              "prefix_cost": "121.75",
              "data_read_per_join": "154"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (93003,93004,93005,93006,93007,93008,93009,93010,93011,93012,93013,93014,93015,93282,93283,93284,93285,93286,93287,93288,93289,93290,93291,93294,93338,93339,93341,93342,93343,93344,93345,93346,93347,93348,93349,93350,93351,93352,93353,93354,93355,93356,93357,93358,93750,93751,93752,93753,93754,93755,93756,93757,93758,93759,93760,93761,93762,93763,93764,93765,93766,93767,93768,93769,93770,93771,93772,93773,93774,93775,93776,93777,93778,93779,93780,93790,93791,93825,93826,93827,93828,93829,93842,93843,93844,93845,93848,93849,93868,93869,93870,93871,93886,93887,93888,93889))"
          }
        },
        {
          "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": "2.41",
              "eval_cost": "0.96",
              "prefix_cost": "125.12",
              "data_read_per_join": "154"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}