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, 
  product_position_source.position AS position 
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') 
  LEFT JOIN cscart_products_categories AS product_position_source ON cscart_products_categories.product_id = product_position_source.product_id 
  AND product_position_source.category_id = 1 
WHERE 
  cscart_products_categories.product_id IN (
    88200, 88199, 88198, 88197, 88182, 88181, 
    88180, 88179, 88178, 88177, 88176, 
    88175, 88174, 88139, 88324, 88043, 
    88042, 88041, 88040, 88038
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00048

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 20 Using where; Using index
1 SIMPLE cscart_categories eq_ref PRIMARY,c_status,p_category_id PRIMARY 3 toolboxdigitalshop_dev.cscart_products_categories.category_id 1 Using where
1 SIMPLE product_position_source eq_ref PRIMARY,pt PRIMARY 6 const,toolboxdigitalshop_dev.cscart_products_categories.product_id 1

Result

product_id category_ids position
88038 1M 0
88040 1M 0
88041 1M 0
88042 1M 0
88043 1M 0
88139 1M 0
88174 1M 0
88175 1M 0
88176 1M 0
88177 1M 0
88178 1M 0
88179 1M 0
88180 1M 0
88181 1M 0
88182 1M 0
88197 1M 0
88198 1M 0
88199 1M 0
88200 1M 0
88324 1M 0