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 = 271 
WHERE 
  cscart_products_categories.product_id IN (
    216, 217, 218, 219, 220, 221, 222, 223, 
    278, 279, 280, 281, 282, 283, 284, 332, 
    333, 334, 335, 336, 337, 3915, 3916, 
    3917, 3918, 3919, 3920, 3921, 3968, 
    3969, 3970, 3971, 3972, 3973, 3974, 
    4020, 4021, 4022, 4023, 4024, 4025, 
    4026, 4094, 4095, 4096, 4097, 4098, 
    4099, 4100, 4101, 4102, 4103, 4104, 
    4105, 4106, 4107, 4163, 4164, 4165, 
    4166, 4167, 4168, 4169, 4216, 4217, 
    4218, 4219, 4220, 4221, 4222, 196, 197, 
    198, 199, 200, 201, 202, 271, 272, 273, 
    274, 275, 276, 277, 325, 326, 327, 328, 
    329, 330, 415, 416, 417, 418, 3616, 3617
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00271

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "68.37"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "1.53"
      },
      "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": "0.87",
            "index_condition": "(`gaseus`.`cscart_products_categories`.`product_id` in (216,217,218,219,220,221,222,223,278,279,280,281,282,283,284,332,333,334,335,336,337,3915,3916,3917,3918,3919,3920,3921,3968,3969,3970,3971,3972,3973,3974,4020,4021,4022,4023,4024,4025,4026,4094,4095,4096,4097,4098,4099,4100,4101,4102,4103,4104,4105,4106,4107,4163,4164,4165,4166,4167,4168,4169,4216,4217,4218,4219,4220,4221,4222,196,197,198,199,200,201,202,271,272,273,274,275,276,277,325,326,327,328,329,330,415,416,417,418,3616,3617))",
            "cost_info": {
              "read_cost": "44.00",
              "eval_cost": "0.15",
              "prefix_cost": "66.30",
              "data_read_per_join": "24"
            },
            "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": "0.38",
              "eval_cost": "0.15",
              "prefix_cost": "66.84",
              "data_read_per_join": "24"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}