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 = 6 
WHERE 
  cscart_products_categories.product_id IN (
    70121, 70812, 70727, 70339, 70697, 70696, 
    70695, 70694, 70640, 70600, 70584, 
    70539, 70432, 70357, 70587, 70586, 
    70583, 70579, 70537, 70493, 70120, 
    69978, 69977, 70358, 70462, 70459, 
    70458, 70433, 69982, 70435, 70434, 
    70362, 70015, 70014, 70235, 70234, 
    70161, 70119, 69980, 69745
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00056

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 40 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
69745 6M 0
69977 6M 0
69978 6M 0
69980 6M 0
69982 6M 0
70014 6M 0
70015 6M 0
70119 6M 0
70120 6M 0
70121 6M 0
70161 6M 0
70234 6M 0
70235 6M 0
70339 6M 0
70357 6M 0
70358 6M 0
70362 6M 0
70432 6M 0
70433 6M 0
70434 6M 0
70435 6M 0
70458 6M 0
70459 6M 0
70462 6M 0
70493 6M 0
70537 6M 0
70539 6M 0
70579 6M 0
70583 6M 0
70584 6M 0
70586 6M 0
70587 6M 0
70600 6M 0
70640 6M 0
70694 6M 0
70695 6M 0
70696 6M 0
70697 6M 0
70727 6M 0
70812 6M 0