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 = 6 
WHERE 
  cscart_products_categories.product_id IN (
    73780, 73779, 73756, 73689, 73597, 73339, 
    73242, 73628, 73776, 73775, 73774, 
    73773, 73772, 73771, 73770, 73769, 
    73768, 73767, 73766, 73765, 73764, 
    73763, 73762, 73761, 73760, 73759, 
    73288, 73311, 73283, 73282, 73281, 
    73280, 73279, 73278, 73624, 73596, 
    73595, 73338, 73216, 73215
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00082

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 41 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
73215 6M 0
73216 18,6M 0
73242 6M 0
73278 6M 0
73279 6M 0
73280 6M 0
73281 6M 0
73282 6M 0
73283 6M 0
73288 6M 0
73311 6M 0
73338 6M 0
73339 6M 0
73595 6M 0
73596 6M 0
73597 6M 0
73624 6M 0
73628 6M 0
73689 6M 0
73756 6M 0
73759 6M 0
73760 6M 0
73761 6M 0
73762 6M 0
73763 6M 0
73764 6M 0
73765 6M 0
73766 6M 0
73767 6M 0
73768 6M 0
73769 6M 0
73770 6M 0
73771 6M 0
73772 6M 0
73773 6M 0
73774 6M 0
73775 6M 0
73776 6M 0
73779 6M 0
73780 6M 0