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 = 13 
WHERE 
  cscart_products_categories.product_id IN (
    1652, 1309, 1653, 1668, 1634, 1688, 1499, 
    1613, 1648, 1723, 1590, 1510, 1950, 
    1951, 1924, 1949, 1745, 1654, 1501, 
    69, 89, 1643, 1645, 1925, 1666, 1664, 
    1557, 1695, 1559, 1315, 1310, 1471, 
    1502, 86, 1504, 33, 1944, 1942, 1900, 
    1777, 1748, 1679, 1702, 1610, 1706, 
    1683, 1946, 1524, 1562, 1509, 1952, 
    1700, 1589, 1492, 1316, 1690, 1729, 
    1637, 1731, 1636, 1638, 1639, 1629, 
    1631, 1630, 1622, 1615, 1621, 1907, 
    1955, 1663, 1674, 1490, 1746, 1831, 
    1832, 1591, 1737, 1805, 1647, 1774, 
    281, 1617, 282, 1503, 285, 1826, 1646, 
    1580, 1906, 1611, 1166, 67, 1252, 1930, 
    1561
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00293

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": 106,
      "filtered": 100,
      "index_condition": "cscart_products_categories.product_id in (1652,1309,1653,1668,1634,1688,1499,1613,1648,1723,1590,1510,1950,1951,1924,1949,1745,1654,1501,69,89,1643,1645,1925,1666,1664,1557,1695,1559,1315,1310,1471,1502,86,1504,33,1944,1942,1900,1777,1748,1679,1702,1610,1706,1683,1946,1524,1562,1509,1952,1700,1589,1492,1316,1690,1729,1637,1731,1636,1638,1639,1629,1631,1630,1622,1615,1621,1907,1955,1663,1674,1490,1746,1831,1832,1591,1737,1805,1647,1774,281,1617,282,1503,285,1826,1646,1580,1906,1611,1166,67,1252,1930,1561)"
    },
    "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
    }
  }
}