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 (
    96688, 96689, 96690, 96691, 96692, 96694, 
    96695, 96696, 96697, 96708, 96718, 
    96719, 96720, 96724, 96734, 96735, 
    96738, 96739, 96743, 96746, 96747, 
    96749, 96751, 96758, 96759, 96764, 
    96775, 96778, 96779, 96780, 96789, 
    96790, 96791, 96839, 96840, 96841, 
    96918, 96919, 96985, 96986, 96987, 
    96988, 96989, 96990, 96991, 96992, 
    96993, 96994, 96995, 96996, 96997, 
    96998, 96999, 97000, 97001, 97002, 
    97003, 97004, 97005, 97006, 97007, 
    97008, 97009, 97010, 97083, 97219, 
    97220, 97221, 97222, 97223, 97224, 
    97225, 97226, 97227, 97567, 97570, 
    97573, 97574, 97575, 97576, 97577, 
    97578, 97579, 97580, 97581, 97582, 
    97583, 97584, 97585, 97586, 97682, 
    97683, 97684, 97685, 97686, 97687
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00544

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "135.34"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "10.07"
      },
      "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": "1.03",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.01",
              "prefix_cost": "121.75",
              "data_read_per_join": "161"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (96688,96689,96690,96691,96692,96694,96695,96696,96697,96708,96718,96719,96720,96724,96734,96735,96738,96739,96743,96746,96747,96749,96751,96758,96759,96764,96775,96778,96779,96780,96789,96790,96791,96839,96840,96841,96918,96919,96985,96986,96987,96988,96989,96990,96991,96992,96993,96994,96995,96996,96997,96998,96999,97000,97001,97002,97003,97004,97005,97006,97007,97008,97009,97010,97083,97219,97220,97221,97222,97223,97224,97225,97226,97227,97567,97570,97573,97574,97575,97576,97577,97578,97579,97580,97581,97582,97583,97584,97585,97586,97682,97683,97684,97685,97686,97687))"
          }
        },
        {
          "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": "2.52",
              "eval_cost": "1.01",
              "prefix_cost": "125.27",
              "data_read_per_join": "161"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}