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 
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') 
WHERE 
  cscart_products_categories.product_id IN (
    82038, 148882, 148883, 148884, 148885, 
    148886, 148887, 148888, 148889, 148890, 
    148891, 148892, 148893, 148894, 148895, 
    148896, 148897, 148898, 148899, 148900, 
    148901, 148902, 148903, 148904, 148905, 
    148906, 148907, 148908, 148909, 148910, 
    148911, 148912, 148913, 148914, 148915, 
    148916, 148917, 148918, 148919, 148920, 
    148921, 148922, 148923, 148924, 148925, 
    148926, 148927, 148928, 148929, 148930, 
    148931
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00126

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "82.68"
    },
    "grouping_operation": {
      "using_filesort": false,
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_products_categories",
            "access_type": "range",
            "possible_keys": [
              "PRIMARY",
              "link_type",
              "pt"
            ],
            "key": "pt",
            "used_key_parts": [
              "product_id"
            ],
            "key_length": "3",
            "rows_examined_per_scan": 51,
            "rows_produced_per_join": 51,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "11.28",
              "eval_cost": "10.20",
              "prefix_cost": "21.48",
              "data_read_per_join": "816"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`webmarco`.`cscart_products_categories`.`product_id` in (82038,148882,148883,148884,148885,148886,148887,148888,148889,148890,148891,148892,148893,148894,148895,148896,148897,148898,148899,148900,148901,148902,148903,148904,148905,148906,148907,148908,148909,148910,148911,148912,148913,148914,148915,148916,148917,148918,148919,148920,148921,148922,148923,148924,148925,148926,148927,148928,148929,148930,148931))"
          }
        },
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "eq_ref",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "p_category_id"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id"
            ],
            "key_length": "3",
            "ref": [
              "webmarco.cscart_products_categories.category_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 2,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "51.00",
              "eval_cost": "0.51",
              "prefix_cost": "82.68",
              "data_read_per_join": "15K"
            },
            "used_columns": [
              "category_id",
              "usergroup_ids",
              "status",
              "storefront_id"
            ],
            "attached_condition": "((`webmarco`.`cscart_categories`.`storefront_id` in (0,1)) and ((`webmarco`.`cscart_categories`.`usergroup_ids` = '') or find_in_set(0,`webmarco`.`cscart_categories`.`usergroup_ids`) or find_in_set(1,`webmarco`.`cscart_categories`.`usergroup_ids`)) and (`webmarco`.`cscart_categories`.`status` in ('A','H')))"
          }
        }
      ]
    }
  }
}