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 (
    130, 51106, 51107, 51112, 51111, 51110, 
    51109, 51108, 51182, 51180, 51179, 
    51178, 51177, 93, 10, 51232, 12, 51238, 
    51237, 51236, 51235, 51234, 51233, 
    51246, 51245, 51244, 35, 51248, 51247, 
    51256, 51255, 51254, 33, 32, 51281, 
    51280, 51279, 51278, 51282, 7, 16, 54, 
    51313, 51312, 51314, 51311, 51310, 
    89, 51390, 51391, 51392, 51393, 51394
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00184

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "146.06"
    },
    "grouping_operation": {
      "using_filesort": false,
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_products_categories",
            "access_type": "range",
            "possible_keys": [
              "PRIMARY",
              "pt"
            ],
            "key": "pt",
            "used_key_parts": [
              "product_id"
            ],
            "key_length": "3",
            "rows_examined_per_scan": 166,
            "rows_produced_per_join": 166,
            "filtered": "100.00",
            "index_condition": "(`test_uchur_k`.`cscart_products_categories`.`product_id` in (130,51106,51107,51112,51111,51110,51109,51108,51182,51180,51179,51178,51177,93,10,51232,12,51238,51237,51236,51235,51234,51233,51246,51245,51244,35,51248,51247,51256,51255,51254,33,32,51281,51280,51279,51278,51282,7,16,54,51313,51312,51314,51311,51310,89,51390,51391,51392,51393,51394))",
            "cost_info": {
              "read_cost": "71.36",
              "eval_cost": "16.60",
              "prefix_cost": "87.96",
              "data_read_per_join": "2K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ]
          }
        },
        {
          "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": [
              "test_uchur_k.cscart_products_categories.category_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 8,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "41.50",
              "eval_cost": "0.83",
              "prefix_cost": "146.06",
              "data_read_per_join": "43K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}