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 (
    82, 51129, 51128, 51127, 51126, 51125, 
    48, 51139, 51138, 51137, 51136, 51135, 
    40, 51158, 51157, 51156, 53, 51160, 
    51159, 51176, 51174, 51173, 51172, 
    91, 51194, 51193, 51192, 51191, 51190, 
    51189, 19, 51246, 51245, 51244, 35, 
    51248, 51247, 17, 16, 54, 51313, 51312, 
    51314, 51311, 51310, 51323, 51322, 
    51321, 51320, 50, 51324, 105, 57, 51354, 
    51353, 43, 51361, 30, 51362, 51363, 
    51364, 51365
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00203

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "166.75"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "28.61"
      },
      "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": 28,
            "filtered": "10.38",
            "index_condition": "(`test_uchur_k`.`cscart_products_categories`.`product_id` in (82,51129,51128,51127,51126,51125,48,51139,51138,51137,51136,51135,40,51158,51157,51156,53,51160,51159,51176,51174,51173,51172,91,51194,51193,51192,51191,51190,51189,19,51246,51245,51244,35,51248,51247,17,16,54,51313,51312,51314,51311,51310,51323,51322,51321,51320,50,51324,105,57,51354,51353,43,51361,30,51362,51363,51364,51365))",
            "cost_info": {
              "read_cost": "68.94",
              "eval_cost": "2.86",
              "prefix_cost": "138.14",
              "data_read_per_join": "457"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ]
          }
        }
      ]
    }
  }
}