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 (
    109, 91, 92, 161, 188, 202, 203, 34, 31, 
    38, 80, 165, 166, 86, 106, 105, 247, 101, 
    33, 32, 163, 244, 212, 155, 102, 55, 176, 
    69, 138, 110, 36, 206, 28, 184, 183, 133, 
    132, 125, 120, 223, 225, 224, 146, 147, 
    93, 117, 219, 222, 220, 221, 87, 113, 
    139, 118, 83, 157, 123, 174, 171, 280, 
    282, 278, 336, 20, 119, 100, 46, 204, 
    45, 68, 29, 6, 8, 14, 9, 10, 19, 21, 7, 27, 
    124, 50, 51, 49, 48, 54, 44, 194, 137, 
    153, 164, 236, 234, 150, 151, 178, 181, 
    248, 65, 64, 63, 62, 66, 140, 141, 144, 
    143, 142, 13
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00120

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "42.37"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "3.64"
      },
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "ALL",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "p_category_id"
            ],
            "rows_examined_per_scan": 84,
            "rows_produced_per_join": 3,
            "filtered": "4.00",
            "cost_info": {
              "read_cost": "19.61",
              "eval_cost": "0.67",
              "prefix_cost": "20.28",
              "data_read_per_join": "8K"
            },
            "used_columns": [
              "category_id",
              "storefront_id",
              "usergroup_ids",
              "status"
            ],
            "attached_condition": "((`atulecarter_atul_demo2`.`cscart_categories`.`storefront_id` in (0,1)) and ((`atulecarter_atul_demo2`.`cscart_categories`.`usergroup_ids` = '') or find_in_set(0,`atulecarter_atul_demo2`.`cscart_categories`.`usergroup_ids`) or find_in_set(1,`atulecarter_atul_demo2`.`cscart_categories`.`usergroup_ids`)) and (`atulecarter_atul_demo2`.`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": [
              "atulecarter_atul_demo2.cscart_categories.category_id"
            ],
            "rows_examined_per_scan": 4,
            "rows_produced_per_join": 3,
            "filtered": "27.08",
            "index_condition": "(`atulecarter_atul_demo2`.`cscart_products_categories`.`product_id` in (109,91,92,161,188,202,203,34,31,38,80,165,166,86,106,105,247,101,33,32,163,244,212,155,102,55,176,69,138,110,36,206,28,184,183,133,132,125,120,223,225,224,146,147,93,117,219,222,220,221,87,113,139,118,83,157,123,174,171,280,282,278,336,20,119,100,46,204,45,68,29,6,8,14,9,10,19,21,7,27,124,50,51,49,48,54,44,194,137,153,164,236,234,150,151,178,181,248,65,64,63,62,66,140,141,144,143,142,13))",
            "cost_info": {
              "read_cost": "15.76",
              "eval_cost": "0.73",
              "prefix_cost": "38.73",
              "data_read_per_join": "58"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ]
          }
        }
      ]
    }
  }
}