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 = 11 
WHERE 
  cscart_products_categories.product_id IN (
    403, 1414, 151, 57, 58, 29, 1947, 683, 
    1377, 1166, 358, 1167, 708, 1177, 1195, 
    1208, 1178, 1849, 1846, 1848, 1847, 
    1171, 1322, 1448, 789, 1375, 1230, 1227, 
    1770, 1769, 1420, 77, 1449, 1235, 1442, 
    1958, 67, 1252, 803, 1169, 1712, 1759, 
    1341, 1592, 1474, 1733, 1002, 1930, 
    1561, 1705, 1704, 1609, 1935, 1936, 
    1929, 1528, 1527, 1526, 1508, 1534, 
    1533, 1841, 1531, 1529, 1530, 1843, 
    1532, 1515, 1904, 1873, 1897, 1896, 
    1728, 1607, 1608, 1606, 1703, 1578, 
    1396, 1605, 1206, 1586, 1934, 1932, 
    1933, 1656, 1542, 1640, 1543, 1655, 
    1927, 1926, 1815, 1808, 1541, 1829
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00297

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 (403,1414,151,57,58,29,1947,683,1377,1166,358,1167,708,1177,1195,1208,1178,1849,1846,1848,1847,1171,1322,1448,789,1375,1230,1227,1770,1769,1420,77,1449,1235,1442,1958,67,1252,803,1169,1712,1759,1341,1592,1474,1733,1002,1930,1561,1705,1704,1609,1935,1936,1929,1528,1527,1526,1508,1534,1533,1841,1531,1529,1530,1843,1532,1515,1904,1873,1897,1896,1728,1607,1608,1606,1703,1578,1396,1605,1206,1586,1934,1932,1933,1656,1542,1640,1543,1655,1927,1926,1815,1808,1541,1829)"
    },
    "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
    }
  }
}