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 = 22 
WHERE 
  cscart_products_categories.product_id IN (
    43553, 43552, 43548, 43547, 43546, 43530, 
    43535, 43534, 43528, 43527, 43526, 
    43525, 43523, 43520, 43781, 43780, 
    43779, 43778, 43777, 43776, 43775, 
    43774, 43773, 43772, 43771, 43770, 
    43769, 43768, 43423, 43420, 43416, 
    43411, 43410, 43409, 43378, 43377, 
    43333, 43332, 43331, 43349, 43348, 
    43347, 43342, 43341, 43340, 43339, 
    43338, 43337, 43336, 43335, 43334, 
    43328, 43326, 43325, 43292, 43555, 
    43529, 43288, 43287, 43286, 43281, 
    43280, 43279, 43619, 43513, 43508, 
    43290, 43289, 63106, 63105, 63104, 
    63103, 63102, 63101, 63100, 63099, 
    63098, 63097, 63096, 63095
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00103

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 85 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
43279 33,22M 0
43280 33,22M 0
43281 22M 0
43286 22M 0
43287 22M 0
43288 22M 0
43289 22M 0
43290 22M 0
43292 22M 0
43325 22M 0
43326 22M 0
43328 22M 0
43331 22M 0
43332 22M 0
43333 22M 0
43334 22M 0
43335 22M 0
43336 22M 0
43337 22M 0
43338 22M 0
43339 22M 0
43340 22M 0
43341 22M 0
43342 22M 0
43347 22M 0
43348 22M 0
43349 33,22M 0
43377 22M 0
43378 22M 0
43409 22M 0
43410 22M 0
43411 22M 0
43416 22M 0
43420 22M 0
43423 22M 0
43508 22M 0
43513 22M 0
43520 22M 0
43523 22M 0
43525 22M 0
43526 22M 0
43527 22M 0
43528 22M 0
43529 32,22M 0
43530 22M 0
43534 22M 0
43535 22M 0
43546 22M 0
43547 22M 0
43548 22M 0
43552 22M 0
43553 22M 0
43555 32,22M 0
43619 22M 0
43768 22M 0
43769 22M 0
43770 22M 0
43771 22M 0
43772 22M 0
43773 22M 0
43774 22M 0
43775 22M 0
43776 22M 0
43777 22M 0
43778 22M 0
43779 22M 0
43780 22M 0
43781 22M 0
63095 22M 0
63096 22M 0
63097 22M 0
63098 22M 0
63099 22M 0
63100 22M 0
63101 22M 0
63102 22M 0
63103 22M 0
63104 22M 0
63105 22M 0
63106 22M 0