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 = 166 
WHERE 
  cscart_products_categories.product_id IN (
    190, 461277, 391037, 391032, 391031, 
    391030, 460955, 242, 243, 116541, 116547, 
    172, 168, 167, 169, 156, 175, 12702, 
    312043, 391029, 246, 312051, 461038, 
    173, 312048, 12712, 391035, 21914, 
    391033, 391036, 391034, 154, 161, 165, 
    166, 163, 155, 460948, 184, 183, 145, 
    12710, 12698, 157, 461039, 461275, 
    391040, 461037
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00144

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost": 0.321938807,
    "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": 71,
          "cost": 0.090209915,
          "filtered": 100,
          "attached_condition": "cscart_products_categories.product_id in (190,461277,391037,391032,391031,391030,460955,242,243,116541,116547,172,168,167,169,156,175,12702,312043,391029,246,312051,461038,173,312048,12712,391035,21914,391033,391036,391034,154,161,165,166,163,155,460948,184,183,145,12710,12698,157,461039,461275,391040,461037)",
          "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": ["u985510652_ecartify.cscart_products_categories.category_id"],
          "loops": 71,
          "rows": 1,
          "cost": 0.06432444,
          "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",
            "u985510652_ecartify.cscart_products_categories.product_id"
          ],
          "loops": 71,
          "rows": 1,
          "cost": 0.12166844,
          "filtered": 100
        }
      }
    ]
  }
}