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 (
    53, 54, 55, 57, 58, 59, 60, 61, 62, 63, 64, 
    65, 66, 69, 70, 71, 72, 73, 74, 75, 76, 
    77, 78, 80, 81, 82, 83, 84, 85, 86, 87, 
    88, 89, 90, 91, 92, 94, 95, 96, 97, 98, 
    99, 100, 101, 102, 103, 104, 105, 106, 
    107, 108, 109, 110, 111, 112, 113, 114, 
    115, 116, 117, 118, 119, 120, 121, 122, 
    123, 124, 125, 126, 127, 128, 129, 130, 
    131, 132, 133, 134, 135, 136, 137, 138, 
    139, 140, 141, 142, 143, 144, 145, 146, 
    147, 148, 149, 150, 151, 152, 154
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00263

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 (53,54,55,57,58,59,60,61,62,63,64,65,66,69,70,71,72,73,74,75,76,77,78,80,81,82,83,84,85,86,87,88,89,90,91,92,94,95,96,97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,154)"
    },
    "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')"
    }
  }
}