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, 51076, 51073, 51072, 51074, 51075, 
    22711, 22710, 51077, 51080, 51078, 
    51079, 51132, 51131, 51134, 51133, 
    51130, 41, 51139, 51138, 51137, 51136, 
    51135, 40, 51144, 51143, 51142, 51141, 
    51140, 39, 51146, 51145, 38, 51148, 
    51147, 51150, 51149, 37, 51169, 51168, 
    51167, 51166, 90, 51171, 51170, 51205, 
    51204, 51203, 51202, 125, 51209, 51208, 
    51207, 51206, 124, 27, 22, 17, 18, 56, 
    51295, 117, 116, 115, 81, 11, 51326, 
    135, 106, 58, 57, 5, 51349, 122, 51357, 
    51360, 51359, 51358, 51361, 30, 51362, 
    51363, 51364, 51365, 65, 140, 51385, 
    51386, 51387, 51388, 51389
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00370

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "182.91"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "44.77"
      },
      "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": 44,
            "filtered": "16.24",
            "index_condition": "(`test_uchur_k`.`cscart_products_categories`.`product_id` in (82,51076,51073,51072,51074,51075,22711,22710,51077,51080,51078,51079,51132,51131,51134,51133,51130,41,51139,51138,51137,51136,51135,40,51144,51143,51142,51141,51140,39,51146,51145,38,51148,51147,51150,51149,37,51169,51168,51167,51166,90,51171,51170,51205,51204,51203,51202,125,51209,51208,51207,51206,124,27,22,17,18,56,51295,117,116,115,81,11,51326,135,106,58,57,5,51349,122,51357,51360,51359,51358,51361,30,51362,51363,51364,51365,65,140,51385,51386,51387,51388,51389))",
            "cost_info": {
              "read_cost": "68.94",
              "eval_cost": "4.48",
              "prefix_cost": "138.14",
              "data_read_per_join": "716"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ]
          }
        }
      ]
    }
  }
}