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 (
    14263, 14262, 8767, 8765, 8604, 8783, 
    14054, 14053, 14050, 79658, 79611, 
    79600, 79615, 79712, 79660, 79659, 
    79613, 79612, 14508, 14550
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00058

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 38 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
8604 29M 0
8765 29M 0
8767 29M 0
8783 29,4M 0
14050 4,29,21M 0
14053 29,4M 0
14054 29,4M 0
14262 29,4M 0
14263 29,4M 0
14508 29,4M 0
14550 29,4M 0
79600 29,4M 0
79611 29,4M 0
79612 29,4M 0
79613 29,4M 0
79615 29,4M 0
79658 29,4M 0
79659 29,4M 0
79660 29,4M 0
79712 29,4M 0