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 = 20 
WHERE 
  cscart_products_categories.product_id IN (
    99, 97, 98, 91, 96, 182, 451, 454, 453, 
    457, 701, 702, 708, 228, 452, 447, 829, 
    831, 818, 774, 823, 833, 368, 432, 433, 
    434, 435, 436, 437, 438, 439, 440, 441, 
    442, 443, 444, 445, 446, 369, 417, 418, 
    419, 420, 421, 422, 423, 424, 425, 426, 
    427, 428, 429, 430, 431, 367, 402, 403, 
    404, 405, 406, 407, 408, 409, 410, 411, 
    412, 413, 414, 415, 416
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00108

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost": 0.253669636,
    "nested_loop": [
      {
        "table": {
          "table_name": "cscart_products_categories",
          "access_type": "range",
          "possible_keys": ["PRIMARY", "pt"],
          "key": "pt",
          "key_length": "3",
          "used_key_parts": ["product_id"],
          "loops": 1,
          "rows": 74,
          "cost": 0.07033541,
          "filtered": 100,
          "attached_condition": "cscart_products_categories.product_id in (99,97,98,91,96,182,451,454,453,457,701,702,708,228,452,447,829,831,818,774,823,833,368,432,433,434,435,436,437,438,439,440,441,442,443,444,445,446,369,417,418,419,420,421,422,423,424,425,426,427,428,429,430,431,367,402,403,404,405,406,407,408,409,410,411,412,413,414,415,416)",
          "using_index": true
        }
      },
      {
        "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": [
            "u428615623_ecartifygonje.cscart_products_categories.category_id"
          ],
          "loops": 74,
          "rows": 1,
          "cost": 0.06700776,
          "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",
            "u428615623_ecartifygonje.cscart_products_categories.product_id"
          ],
          "loops": 74,
          "rows": 1,
          "cost": 0.06864616,
          "filtered": 100
        }
      }
    ]
  }
}