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 (
    128, 51118, 51117, 51116, 51115, 51114, 
    51113, 49, 51132, 51131, 51134, 51133, 
    51130, 41, 51155, 51154, 51153, 51152, 
    21, 51169, 51168, 51167, 51166, 90, 
    51171, 51170, 51183, 20, 51188, 51187, 
    51186, 51185, 51184, 51243, 51242, 
    51241, 51240, 51239, 36, 51294, 51293, 
    51291, 51290, 94, 18, 81, 51318, 51317, 
    51316, 51, 51319, 106, 58, 86, 15, 95, 
    51356, 51355, 44, 31, 51366, 51367, 
    51368, 51369
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00306

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "167.79"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "29.65"
      },
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "ALL",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "p_category_id"
            ],
            "rows_examined_per_scan": 383,
            "rows_produced_per_join": 15,
            "filtered": "4.00",
            "cost_info": {
              "read_cost": "40.09",
              "eval_cost": "1.53",
              "prefix_cost": "41.62",
              "data_read_per_join": "81K"
            },
            "used_columns": [
              "category_id",
              "storefront_id",
              "usergroup_ids",
              "status"
            ],
            "attached_condition": "((`test_uchur_k`.`cscart_categories`.`storefront_id` in (0,1)) and ((`test_uchur_k`.`cscart_categories`.`usergroup_ids` = '') or (0 <> find_in_set(0,`test_uchur_k`.`cscart_categories`.`usergroup_ids`)) or (0 <> find_in_set(1,`test_uchur_k`.`cscart_categories`.`usergroup_ids`))) and (`test_uchur_k`.`cscart_categories`.`status` in ('A','H')))"
          }
        },
        {
          "table": {
            "table_name": "cscart_products_categories",
            "access_type": "ref",
            "possible_keys": [
              "PRIMARY",
              "pt"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id"
            ],
            "key_length": "3",
            "ref": [
              "test_uchur_k.cscart_categories.category_id"
            ],
            "rows_examined_per_scan": 18,
            "rows_produced_per_join": 29,
            "filtered": "10.75",
            "index_condition": "(`test_uchur_k`.`cscart_products_categories`.`product_id` in (128,51118,51117,51116,51115,51114,51113,49,51132,51131,51134,51133,51130,41,51155,51154,51153,51152,21,51169,51168,51167,51166,90,51171,51170,51183,20,51188,51187,51186,51185,51184,51243,51242,51241,51240,51239,36,51294,51293,51291,51290,94,18,81,51318,51317,51316,51,51319,106,58,86,15,95,51356,51355,44,31,51366,51367,51368,51369))",
            "cost_info": {
              "read_cost": "68.94",
              "eval_cost": "2.97",
              "prefix_cost": "138.14",
              "data_read_per_join": "474"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ]
          }
        }
      ]
    }
  }
}