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 (
    17, 180, 18, 16, 4, 5, 23, 24, 1, 22, 149, 
    190, 189, 3438, 3439, 3440, 3441, 136148, 
    156245, 169350, 125861, 122330, 133778, 
    146242, 143574, 121541, 130403, 120464, 
    125358, 154235, 137235, 157361, 133193, 
    166388, 176206, 128666, 158252, 135956, 
    162915, 132858, 144027, 124934, 132112, 
    135084, 158535, 147929, 173481, 137775, 
    151549, 162201, 162374, 121316, 166649, 
    167453, 161383, 172324, 140024, 156616, 
    169021, 155568, 138561, 121611, 140621, 
    147362
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00275

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost": 0.327857853,
    "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": 65,
          "cost": 0.115664525,
          "filtered": 100,
          "attached_condition": "cscart_products_categories.product_id in (17,180,18,16,4,5,23,24,1,22,149,190,189,3438,3439,3440,3441,136148,156245,169350,125861,122330,133778,146242,143574,121541,130403,120464,125358,154235,137235,157361,133193,166388,176206,128666,158252,135956,162915,132858,144027,124934,132112,135084,158535,147929,173481,137775,151549,162201,162374,121316,166649,167453,161383,172324,140024,156616,169021,155568,138561,121611,140621,147362)",
          "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_abhi.cscart_products_categories.category_id"
          ],
          "loops": 65,
          "rows": 1,
          "cost": 0.0589578,
          "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_abhi.cscart_products_categories.product_id"
          ],
          "loops": 65,
          "rows": 1,
          "cost": 0.1113866,
          "filtered": 100
        }
      }
    ]
  }
}