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 (
    87311, 87310, 87309, 87308, 87307, 87306, 
    87660, 87619, 88817, 88816, 88815, 
    87791, 87923, 87293, 87292, 88787, 
    87884, 87017, 87994, 87888
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00061

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
87017 1M 0
87292 1M 0
87293 1M 0
87306 1M 0
87307 1M 0
87308 1M 0
87309 1M 0
87310 1M 0
87311 1M 0
87619 1M 0
87660 1M 0
87791 1M 0
87884 1M 0
87888 1M 0
87923 1M 0
87994 1M 0
88787 1M 0
88815 1M 0
88816 1M 0
88817 1M 0