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 (
    51165, 51164, 51163, 51162, 51161, 52, 
    51169, 51168, 51167, 51166, 90, 51171, 
    51170, 51176, 51174, 51173, 51172, 
    91, 51182, 51180, 51179, 51178, 51177, 
    93, 51183, 20, 51188, 51187, 51186, 
    51185, 51184, 51194, 51193, 51192, 
    51191, 51190, 51189, 19, 51201, 51200, 
    51199, 51198, 51197, 51196, 51195, 
    131, 51564, 51568, 51569, 51570, 51571, 
    51572, 51573, 51566, 51578, 51579, 
    51580, 51581
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00215

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "164.53"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "26.39"
      },
      "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": 26,
            "filtered": "9.57",
            "index_condition": "(`test_uchur_k`.`cscart_products_categories`.`product_id` in (51165,51164,51163,51162,51161,52,51169,51168,51167,51166,90,51171,51170,51176,51174,51173,51172,91,51182,51180,51179,51178,51177,93,51183,20,51188,51187,51186,51185,51184,51194,51193,51192,51191,51190,51189,19,51201,51200,51199,51198,51197,51196,51195,131,51564,51568,51569,51570,51571,51572,51573,51566,51578,51579,51580,51581))",
            "cost_info": {
              "read_cost": "68.94",
              "eval_cost": "2.64",
              "prefix_cost": "138.14",
              "data_read_per_join": "422"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ]
          }
        }
      ]
    }
  }
}