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 = 7171 
WHERE 
  cscart_products_categories.product_id IN (
    85444, 85446, 85495, 85497, 89805, 89857, 
    89929, 91495, 82832, 82905, 82978, 
    83392, 83402, 85057, 85058, 85143, 
    85144, 85189, 85190, 85235, 85236, 
    85293, 85390, 85441, 85492, 85342, 
    85344, 85325, 85326, 85422, 85423, 
    85473, 85474, 85524, 85525, 86512, 
    86788, 86127, 86128, 86150, 86151, 
    83063, 83064, 83616, 83617, 85339, 
    89806, 89858, 89930, 90899, 90900, 
    90978, 90979, 91496, 85088, 85097, 
    85098, 85174, 85220, 85266, 83219, 
    83220, 83224, 83225, 85371, 85372, 
    85294, 85391, 85442, 85493, 91133, 
    91134, 91219, 91220, 91274, 91275, 
    85128, 85340, 89798, 89799, 89850, 
    89851, 89922, 89923, 91489, 91490, 
    83217, 83218, 83222, 83223, 85323, 
    85420, 85471, 85522, 89756, 89758
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00148

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "109.29"
    },
    "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": 192,
            "rows_produced_per_join": 192,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "19.53",
              "eval_cost": "19.20",
              "prefix_cost": "38.73",
              "data_read_per_join": "3K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (85444,85446,85495,85497,89805,89857,89929,91495,82832,82905,82978,83392,83402,85057,85058,85143,85144,85189,85190,85235,85236,85293,85390,85441,85492,85342,85344,85325,85326,85422,85423,85473,85474,85524,85525,86512,86788,86127,86128,86150,86151,83063,83064,83616,83617,85339,89806,89858,89930,90899,90900,90978,90979,91496,85088,85097,85098,85174,85220,85266,83219,83220,83224,83225,85371,85372,85294,85391,85442,85493,91133,91134,91219,91220,91274,91275,85128,85340,89798,89799,89850,89851,89922,89923,91489,91490,83217,83218,83222,83223,85323,85420,85471,85522,89756,89758))"
          }
        },
        {
          "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": 9,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "48.00",
              "eval_cost": "0.96",
              "prefix_cost": "105.93",
              "data_read_per_join": "25K"
            },
            "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": 9,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.40",
              "eval_cost": "0.96",
              "prefix_cost": "109.29",
              "data_read_per_join": "153"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}