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 = 7185 
WHERE 
  cscart_products_categories.product_id IN (
    97865, 97866, 97869, 97870, 97873, 97903, 
    97904, 97905, 97906, 97907, 97908, 
    97909, 97910, 97935, 97936, 97937, 
    97938, 97939, 97940, 97941, 97942, 
    97952, 97962, 97963, 97967, 97970, 
    97971, 97972, 97973, 97975, 97978, 
    97979, 97982, 97983, 97986, 97987, 
    98041, 98043, 98045, 98047, 98049, 
    98051, 98084, 98122, 98123, 98124, 
    98125, 98126, 98127, 98128, 98129, 
    98169, 98171, 98172, 98174, 98327, 
    98328, 98329, 98330, 98331, 98332, 
    98333, 98334, 98335, 98336, 98337, 
    98338, 98339, 98340, 98341, 98342, 
    98367, 98368, 98369, 98370, 98371, 
    98372, 98373, 98374, 98375, 98376, 
    98377, 98378, 98379, 98380, 98381, 
    98382, 98418, 98420, 98551, 98571, 
    98683, 98684, 98717, 98719, 98721
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00111

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "54.77"
    },
    "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": 96,
            "rows_produced_per_join": 96,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "9.89",
              "eval_cost": "9.60",
              "prefix_cost": "19.49",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (97865,97866,97869,97870,97873,97903,97904,97905,97906,97907,97908,97909,97910,97935,97936,97937,97938,97939,97940,97941,97942,97952,97962,97963,97967,97970,97971,97972,97973,97975,97978,97979,97982,97983,97986,97987,98041,98043,98045,98047,98049,98051,98084,98122,98123,98124,98125,98126,98127,98128,98129,98169,98171,98172,98174,98327,98328,98329,98330,98331,98332,98333,98334,98335,98336,98337,98338,98339,98340,98341,98342,98367,98368,98369,98370,98371,98372,98373,98374,98375,98376,98377,98378,98379,98380,98381,98382,98418,98420,98551,98571,98683,98684,98717,98719,98721))"
          }
        },
        {
          "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": 4,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "24.00",
              "eval_cost": "0.48",
              "prefix_cost": "53.09",
              "data_read_per_join": "12K"
            },
            "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": 4,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "1.20",
              "eval_cost": "0.48",
              "prefix_cost": "54.77",
              "data_read_per_join": "76"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}