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 = 29 
WHERE 
  cscart_products_categories.product_id IN (
    14784, 14785, 14704, 14484, 14477, 18813, 
    14406, 14472, 14466, 14462, 14460, 
    13991, 13928, 13890, 13798, 13781, 
    18826, 18825, 13545, 13746
  ) 
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
13545 29,4M 0
13746 29,4M 0
13781 29,4M 0
13798 29,4M 0
13890 29,4M 0
13928 29,4M 0
13991 29,4M 0
14406 29,4M 0
14460 29,4M 0
14462 29,4M 0
14466 29,4M 0
14472 29,4M 0
14477 29,4M 0
14484 29,4M 0
14704 29,4M 0
14784 29,4M 0
14785 29,4M 0
18813 29,4M 0
18825 29,4M 0
18826 29,4M 0