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 
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') 
WHERE 
  cscart_products_categories.product_id IN (
    1958, 1959, 2, 3, 4, 5, 6, 7, 8, 9, 10, 1, 
    1957, 1892, 1956, 1955, 1954, 1953, 
    1870, 1948, 1745, 1952, 1951, 1950, 
    1949, 1924, 1947, 1906, 1946, 1945, 
    1944, 1943, 1939, 1927, 1942, 1900, 
    1941, 1940, 1907, 1938, 1937, 1936, 
    1935, 1934, 1933, 1932, 1931, 1930
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00177

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "cscart_products_categories",
      "access_type": "range",
      "possible_keys": ["PRIMARY", "pt"],
      "key": "pt",
      "key_length": "3",
      "used_key_parts": ["product_id"],
      "rows": 97,
      "filtered": 100,
      "index_condition": "cscart_products_categories.product_id in (1958,1959,2,3,4,5,6,7,8,9,10,1,1957,1892,1956,1955,1954,1953,1870,1948,1745,1952,1951,1950,1949,1924,1947,1906,1946,1945,1944,1943,1939,1927,1942,1900,1941,1940,1907,1938,1937,1936,1935,1934,1933,1932,1931,1930)"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "eq_ref",
      "possible_keys": ["PRIMARY", "c_status", "p_category_id"],
      "key": "PRIMARY",
      "key_length": "3",
      "used_key_parts": ["category_id"],
      "ref": ["bacpvdev_db.cscart_products_categories.category_id"],
      "rows": 1,
      "filtered": 100,
      "attached_condition": "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')"
    }
  }
}