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 (
    1828, 1675, 1931, 1544, 1845, 1540, 1512, 
    1525, 1536, 1538, 1937, 1581, 1582, 
    1838, 1938, 1830, 1514, 1835, 1678, 
    1693, 1711, 1699, 1698, 1869, 1834, 
    1833, 1928, 1537, 1539, 1381, 1320, 
    359, 1892, 1898, 1899, 1436, 1411, 1397, 
    1741, 1270, 1376, 1301, 1330, 1215, 
    1439, 1323, 717, 1217, 1343, 1338, 1337, 
    1174, 1486, 718, 1339, 1417, 341, 1324, 
    1275, 1216, 1458, 819, 1460, 1464, 1455, 
    1450, 1382, 1385, 1383, 1386, 25, 1758, 
    1757, 1734, 1176, 1201, 1191, 1182, 
    1825, 1824, 1821, 1761, 1823, 1822, 
    1459, 1477, 1193, 1546, 1254, 1684, 
    1379, 1378, 701, 699, 711, 703
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00303

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 (1828,1675,1931,1544,1845,1540,1512,1525,1536,1538,1937,1581,1582,1838,1938,1830,1514,1835,1678,1693,1711,1699,1698,1869,1834,1833,1928,1537,1539,1381,1320,359,1892,1898,1899,1436,1411,1397,1741,1270,1376,1301,1330,1215,1439,1323,717,1217,1343,1338,1337,1174,1486,718,1339,1417,341,1324,1275,1216,1458,819,1460,1464,1455,1450,1382,1385,1383,1386,25,1758,1757,1734,1176,1201,1191,1182,1825,1824,1821,1761,1823,1822,1459,1477,1193,1546,1254,1684,1379,1378,701,699,711,703)"
    },
    "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
    }
  }
}