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 (
    17, 148, 180, 187, 232, 230, 231, 18, 16, 
    4, 5, 23, 24, 170, 1, 22, 149, 227, 78, 
    79, 190, 189, 162, 159, 158, 245, 238, 
    239, 242, 243, 241, 240, 214, 217, 218, 
    207, 59, 58, 60, 199, 198, 94, 96, 201, 
    114, 192, 136, 130, 128, 126, 287, 131, 
    177, 186, 185, 179, 11, 172, 134, 135, 
    195, 233, 168, 167, 169, 42, 39, 40, 205, 
    37, 152, 160, 74, 73, 71, 75, 72, 108, 
    237, 191, 235, 70, 122, 115, 156, 90, 
    175, 196, 43, 104, 76, 129, 127, 121, 
    103, 95
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00116

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "33.48"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "2.68"
      },
      "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_demo4`.`cscart_categories`.`storefront_id` in (0,1)) and ((`atulecarter_atul_demo4`.`cscart_categories`.`usergroup_ids` = '') or find_in_set(0,`atulecarter_atul_demo4`.`cscart_categories`.`usergroup_ids`) or find_in_set(1,`atulecarter_atul_demo4`.`cscart_categories`.`usergroup_ids`)) and (`atulecarter_atul_demo4`.`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_demo4.cscart_categories.category_id"
            ],
            "rows_examined_per_scan": 2,
            "rows_produced_per_join": 2,
            "filtered": "39.93",
            "index_condition": "(`atulecarter_atul_demo4`.`cscart_products_categories`.`product_id` in (17,148,180,187,232,230,231,18,16,4,5,23,24,170,1,22,149,227,78,79,190,189,162,159,158,245,238,239,242,243,241,240,214,217,218,207,59,58,60,199,198,94,96,201,114,192,136,130,128,126,287,131,177,186,185,179,11,172,134,135,195,233,168,167,169,42,39,40,205,37,152,160,74,73,71,75,72,108,237,191,235,70,122,115,156,90,175,196,43,104,76,129,127,121,103,95))",
            "cost_info": {
              "read_cost": "9.17",
              "eval_cost": "0.54",
              "prefix_cost": "30.80",
              "data_read_per_join": "42"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ]
          }
        }
      ]
    }
  }
}