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 (
    1414, 1453, 1452, 1407, 1432, 1451, 1445, 
    1411, 1449, 1406, 1448, 1447, 1413, 
    1439, 1419, 1444, 1443, 1418, 1442, 
    1420, 1441, 1440, 1433, 1438, 1436, 
    1435, 1434, 1415, 1431, 1430, 1429, 
    1428, 1427, 1426, 1425, 1424, 1423, 
    1422, 1421, 1417, 1416, 1412, 1410, 
    153, 1409, 1408, 1405, 297
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00179

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": 49,
      "filtered": 100,
      "index_condition": "cscart_products_categories.product_id in (1414,1453,1452,1407,1432,1451,1445,1411,1449,1406,1448,1447,1413,1439,1419,1444,1443,1418,1442,1420,1441,1440,1433,1438,1436,1435,1434,1415,1431,1430,1429,1428,1427,1426,1425,1424,1423,1422,1421,1417,1416,1412,1410,153,1409,1408,1405,297)"
    },
    "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')"
    }
  }
}