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 = 7 
WHERE 
  cscart_products_categories.product_id IN (
    1477, 1177, 1178, 1179, 1184, 1180, 1181, 
    1164, 1165, 5316, 1186, 1187, 5855, 
    7353, 7413, 7414, 7415, 7416, 7417, 
    7418, 7421, 7861, 7862, 7863, 7864, 
    6273, 6274, 7570, 7571, 7572, 5706, 
    5130, 5129, 7077, 2471, 4801, 4802, 
    5467, 5469, 5472, 5468, 5466, 5470, 
    5465, 6934, 6935, 6933, 3190
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00192

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "155.07"
    },
    "grouping_operation": {
      "using_filesort": false,
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_products_categories",
            "access_type": "range",
            "possible_keys": [
              "PRIMARY",
              "pt"
            ],
            "key": "pt",
            "used_key_parts": [
              "product_id"
            ],
            "key_length": "3",
            "rows_examined_per_scan": 175,
            "rows_produced_per_join": 175,
            "filtered": "100.00",
            "index_condition": "(`dbggbern`.`cscart_products_categories`.`product_id` in (1477,1177,1178,1179,1184,1180,1181,1164,1165,5316,1186,1187,5855,7353,7413,7414,7415,7416,7417,7418,7421,7861,7862,7863,7864,6273,6274,7570,7571,7572,5706,5130,5129,7077,2471,4801,4802,5467,5469,5472,5468,5466,5470,5465,6934,6935,6933,3190))",
            "cost_info": {
              "read_cost": "73.26",
              "eval_cost": "17.50",
              "prefix_cost": "90.76",
              "data_read_per_join": "2K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ]
          }
        },
        {
          "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": [
              "dbggbern.cscart_products_categories.category_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 8,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "43.75",
              "eval_cost": "0.88",
              "prefix_cost": "152.01",
              "data_read_per_join": "35K"
            },
            "used_columns": [
              "category_id",
              "usergroup_ids",
              "status",
              "storefront_id"
            ],
            "attached_condition": "((`dbggbern`.`cscart_categories`.`storefront_id` in (0,1)) and ((`dbggbern`.`cscart_categories`.`usergroup_ids` = '') or (0 <> find_in_set(0,`dbggbern`.`cscart_categories`.`usergroup_ids`)) or (0 <> find_in_set(1,`dbggbern`.`cscart_categories`.`usergroup_ids`))) and (`dbggbern`.`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",
              "dbggbern.cscart_products_categories.product_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 8,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "2.19",
              "eval_cost": "0.88",
              "prefix_cost": "155.07",
              "data_read_per_join": "140"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}