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 = 7210 
WHERE 
  cscart_products_categories.product_id IN (
    94496, 94497, 94498, 94499, 94500, 94501, 
    94502, 94503, 94505, 94506, 94507, 
    94508, 94509, 94510, 94511, 94512, 
    94513, 94514, 94515, 94516, 94517, 
    94518, 94519, 94520, 94521, 94522, 
    94523, 94524, 94525, 94526, 94527, 
    94528, 94529, 94530, 94531, 94532, 
    94533, 94534, 94535, 94536, 94537, 
    94538, 94539, 94540, 94541, 94542, 
    94543, 94544, 94545, 94546, 94547, 
    94548, 94549, 94550, 94551, 94552, 
    94553, 94554, 94555, 94556, 94557, 
    94558, 94559, 94560, 94561, 94562, 
    94563, 94564, 94565, 94566, 94567, 
    94568, 94569, 94570, 94571, 94572, 
    94573, 94574, 94575, 94576, 94577, 
    94578, 94579, 94580, 94581, 94582, 
    94583, 94584, 94585, 94586, 94587, 
    94588, 94827, 94828, 94829, 94830
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00574

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "133.87"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "8.98"
      },
      "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": "0.92",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "0.90",
              "prefix_cost": "121.75",
              "data_read_per_join": "143"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (94496,94497,94498,94499,94500,94501,94502,94503,94505,94506,94507,94508,94509,94510,94511,94512,94513,94514,94515,94516,94517,94518,94519,94520,94521,94522,94523,94524,94525,94526,94527,94528,94529,94530,94531,94532,94533,94534,94535,94536,94537,94538,94539,94540,94541,94542,94543,94544,94545,94546,94547,94548,94549,94550,94551,94552,94553,94554,94555,94556,94557,94558,94559,94560,94561,94562,94563,94564,94565,94566,94567,94568,94569,94570,94571,94572,94573,94574,94575,94576,94577,94578,94579,94580,94581,94582,94583,94584,94585,94586,94587,94588,94827,94828,94829,94830))"
          }
        },
        {
          "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": "2.25",
              "eval_cost": "0.90",
              "prefix_cost": "124.89",
              "data_read_per_join": "143"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}