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 (
    1285, 1283, 1284, 1282, 1401, 1402, 1403, 
    1384, 727, 729, 726, 1583, 251, 237, 
    238, 373, 372, 339, 365, 236, 786, 381, 
    389, 1914, 1321, 1368, 1877, 1876, 1878, 
    1806, 1794, 1807, 1884, 1886, 1889, 
    1890, 1881, 1879, 1880, 1882, 1888, 
    1871, 1887, 715, 714, 1485, 1915, 345, 
    1451, 1183, 18, 17, 19, 1814, 1813, 1874, 
    1875, 974, 1574, 1575, 1812, 1811, 1507, 
    1853, 1856, 1918, 1919, 1862, 1861, 
    1857, 1883, 1860, 1859, 1854, 1923, 
    1858, 1922, 1855, 1920, 1469, 344, 1850, 
    1551, 284, 1885, 1628, 1625, 1475, 1276, 
    1312, 1303, 74, 1161, 75, 182, 161
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00285

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": 96,
      "filtered": 100,
      "index_condition": "cscart_products_categories.product_id in (1285,1283,1284,1282,1401,1402,1403,1384,727,729,726,1583,251,237,238,373,372,339,365,236,786,381,389,1914,1321,1368,1877,1876,1878,1806,1794,1807,1884,1886,1889,1890,1881,1879,1880,1882,1888,1871,1887,715,714,1485,1915,345,1451,1183,18,17,19,1814,1813,1874,1875,974,1574,1575,1812,1811,1507,1853,1856,1918,1919,1862,1861,1857,1883,1860,1859,1854,1923,1858,1922,1855,1920,1469,344,1850,1551,284,1885,1628,1625,1475,1276,1312,1303,74,1161,75,182,161)"
    },
    "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')"
    },
    "table": {
      "table_name": "product_position_source",
      "access_type": "eq_ref",
      "possible_keys": ["PRIMARY", "pt"],
      "key": "PRIMARY",
      "key_length": "6",
      "used_key_parts": ["category_id", "product_id"],
      "ref": ["const", "bacpvdev_db.cscart_products_categories.product_id"],
      "rows": 1,
      "filtered": 100
    }
  }
}