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 (
    87011, 86980, 86979, 86977, 86976, 86975, 
    86974, 86973, 86972, 86971, 86970, 
    86969, 87436, 87396, 87395, 87394, 
    87393, 87392, 87391, 87390
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00044

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
86969 1M 0
86970 1M 0
86971 1M 0
86972 1M 0
86973 1M 0
86974 1M 0
86975 1M 0
86976 1M 0
86977 1M 0
86979 1M 0
86980 1M 0
87011 1M 0
87390 1M 0
87391 1M 0
87392 1M 0
87393 1M 0
87394 1M 0
87395 1M 0
87396 1M 0
87436 1M 0