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 (
    1230, 1229, 1228, 1227, 1226, 1225, 1224, 
    1223, 1222, 1221, 1220, 1219, 1218, 
    1217, 1216, 1215, 1170, 1171, 1177, 
    1175, 1168, 1183, 1184, 1174, 1187, 
    67, 1191, 1176, 1167, 1169, 1194, 1179, 
    1180, 1181, 1197, 1182, 1201, 1202, 
    1198, 1178, 603, 1185, 1209, 1186, 1210, 
    1211, 1203, 1212
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00187

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": 48,
      "filtered": 100,
      "index_condition": "cscart_products_categories.product_id in (1230,1229,1228,1227,1226,1225,1224,1223,1222,1221,1220,1219,1218,1217,1216,1215,1170,1171,1177,1175,1168,1183,1184,1174,1187,67,1191,1176,1167,1169,1194,1179,1180,1181,1197,1182,1201,1202,1198,1178,603,1185,1209,1186,1210,1211,1203,1212)"
    },
    "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')"
    }
  }
}