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 = 273 
WHERE 
  cscart_products_categories.product_id IN (
    93, 94, 95, 96, 154, 155, 156, 157, 158, 
    159, 160, 175, 176, 177, 178, 179, 180, 
    181, 257, 258, 259, 260, 261, 262, 263, 
    311, 312, 313, 314, 315, 316, 3539, 3540, 
    3541, 3542, 3543, 3544, 3545, 3954, 
    3955, 3956, 3957, 3958, 3959, 3960, 
    3999, 4000, 4001, 4002, 4003, 4004, 
    4005, 4059, 4060, 4061, 4062, 4063, 
    4064, 4065, 4142, 4143, 4144, 4145, 
    4146, 4147, 4148, 4195, 4196, 4197, 
    4198, 4199, 4200, 4201, 6716, 6715, 
    3117, 3119, 3127, 3133, 3141, 3142, 
    6674, 6680, 6692, 6693, 6701, 6707, 
    1417, 1393, 1394, 1395, 1396, 1397, 
    1398, 1399, 1400
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00403

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "68.41"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "1.57"
      },
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "ALL",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "p_category_id"
            ],
            "rows_examined_per_scan": 40,
            "rows_produced_per_join": 1,
            "filtered": "4.00",
            "cost_info": {
              "read_cost": "4.54",
              "eval_cost": "0.16",
              "prefix_cost": "4.70",
              "data_read_per_join": "6K"
            },
            "used_columns": [
              "category_id",
              "storefront_id",
              "usergroup_ids",
              "status"
            ],
            "attached_condition": "((`gaseus`.`cscart_categories`.`storefront_id` in (0,1)) and ((`gaseus`.`cscart_categories`.`usergroup_ids` = '') or (0 <> find_in_set(0,`gaseus`.`cscart_categories`.`usergroup_ids`)) or (0 <> find_in_set(1,`gaseus`.`cscart_categories`.`usergroup_ids`))) and (`gaseus`.`cscart_categories`.`status` in ('A','H')))"
          }
        },
        {
          "table": {
            "table_name": "cscart_products_categories",
            "access_type": "ref",
            "possible_keys": [
              "PRIMARY",
              "pt"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id"
            ],
            "key_length": "3",
            "ref": [
              "gaseus.cscart_categories.category_id"
            ],
            "rows_examined_per_scan": 110,
            "rows_produced_per_join": 1,
            "filtered": "0.89",
            "index_condition": "(`gaseus`.`cscart_products_categories`.`product_id` in (93,94,95,96,154,155,156,157,158,159,160,175,176,177,178,179,180,181,257,258,259,260,261,262,263,311,312,313,314,315,316,3539,3540,3541,3542,3543,3544,3545,3954,3955,3956,3957,3958,3959,3960,3999,4000,4001,4002,4003,4004,4005,4059,4060,4061,4062,4063,4064,4065,4142,4143,4144,4145,4146,4147,4148,4195,4196,4197,4198,4199,4200,4201,6716,6715,3117,3119,3127,3133,3141,3142,6674,6680,6692,6693,6701,6707,1417,1393,1394,1395,1396,1397,1398,1399,1400))",
            "cost_info": {
              "read_cost": "44.00",
              "eval_cost": "0.16",
              "prefix_cost": "66.30",
              "data_read_per_join": "25"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ]
          }
        },
        {
          "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",
              "gaseus.cscart_products_categories.product_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 1,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "0.39",
              "eval_cost": "0.16",
              "prefix_cost": "66.85",
              "data_read_per_join": "25"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}