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 (
    96549, 96550, 96551, 96552, 96553, 96554, 
    96555, 96556, 96557, 96558, 96562, 
    96563, 96569, 96601, 96602, 96603, 
    96604, 96605, 96606, 96607, 96608, 
    96609, 96610, 96611, 96612, 96613, 
    96614, 96615, 96616, 96617, 96618, 
    96619, 96620, 96621, 96622, 96623, 
    96624, 96625, 96626, 96627, 96628, 
    96629, 96630, 96631, 96632, 96633, 
    96634, 96635, 96636, 96637, 96638, 
    96639, 96640, 96641, 96642, 96643, 
    96644, 96645, 96646, 96647, 96648, 
    96649, 96650, 96651, 96652, 96653, 
    96654, 96655, 96656, 96657, 96658, 
    96659, 96660, 96661, 96662, 96663, 
    96664, 96665, 96666, 96667, 96668, 
    96669, 96670, 96671, 96672, 96673, 
    96674, 96675, 96676, 96678, 96680, 
    96681, 96682, 96683, 96686, 96687
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00230

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "114.40"
    },
    "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": 201,
            "rows_produced_per_join": 201,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "20.43",
              "eval_cost": "20.10",
              "prefix_cost": "40.53",
              "data_read_per_join": "3K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (96549,96550,96551,96552,96553,96554,96555,96556,96557,96558,96562,96563,96569,96601,96602,96603,96604,96605,96606,96607,96608,96609,96610,96611,96612,96613,96614,96615,96616,96617,96618,96619,96620,96621,96622,96623,96624,96625,96626,96627,96628,96629,96630,96631,96632,96633,96634,96635,96636,96637,96638,96639,96640,96641,96642,96643,96644,96645,96646,96647,96648,96649,96650,96651,96652,96653,96654,96655,96656,96657,96658,96659,96660,96661,96662,96663,96664,96665,96666,96667,96668,96669,96670,96671,96672,96673,96674,96675,96676,96678,96680,96681,96682,96683,96686,96687))"
          }
        },
        {
          "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": 10,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "50.25",
              "eval_cost": "1.01",
              "prefix_cost": "110.88",
              "data_read_per_join": "26K"
            },
            "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": 10,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.51",
              "eval_cost": "1.01",
              "prefix_cost": "114.40",
              "data_read_per_join": "160"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}