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.company_id = 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 = 4528 
WHERE 
  cscart_products_categories.product_id IN (
    1232973, 1080125, 431448, 1192887, 
    524883, 487140, 522508, 1302584, 522509, 
    1717796, 1438105, 880662, 431449, 
    1717787, 1313291, 1029048, 1903053, 
    525824, 1302515, 1232965, 1232906, 
    1447394, 1108255, 1346803, 1199097, 
    612860, 1717795, 866430, 2055715, 
    1128299, 525870, 410762
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00514

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "109.92"
    },
    "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": 92,
            "rows_produced_per_join": 92,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "10.22",
              "eval_cost": "9.20",
              "prefix_cost": "19.42",
              "data_read_per_join": "1K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`maniamall_cscart`.`cscart_products_categories`.`product_id` in (1232973,1080125,431448,1192887,524883,487140,522508,1302584,522509,1717796,1438105,880662,431449,1717787,1313291,1029048,1903053,525824,1302515,1232965,1232906,1447394,1108255,1346803,1199097,612860,1717795,866430,2055715,1128299,525870,410762))"
          }
        },
        {
          "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": [
              "maniamall_cscart.cscart_products_categories.category_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 4,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "76.67",
              "eval_cost": "0.46",
              "prefix_cost": "105.29",
              "data_read_per_join": "11K"
            },
            "used_columns": [
              "category_id",
              "company_id",
              "usergroup_ids",
              "status"
            ],
            "attached_condition": "((`maniamall_cscart`.`cscart_categories`.`company_id` = 1) and ((`maniamall_cscart`.`cscart_categories`.`usergroup_ids` = '') or (0 <> find_in_set(0,`maniamall_cscart`.`cscart_categories`.`usergroup_ids`)) or (0 <> find_in_set(1,`maniamall_cscart`.`cscart_categories`.`usergroup_ids`))) and (`maniamall_cscart`.`cscart_categories`.`status` in ('A','H')))"
          }
        },
        {
          "table": {
            "table_name": "product_position_source",
            "access_type": "eq_ref",
            "possible_keys": [
              "PRIMARY",
              "pt"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id",
              "product_id"
            ],
            "key_length": "6",
            "ref": [
              "const",
              "maniamall_cscart.cscart_products_categories.product_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 4,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "4.17",
              "eval_cost": "0.46",
              "prefix_cost": "109.92",
              "data_read_per_join": "73"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}

Result