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 (
    69744, 70160, 70124, 70080, 69934, 70084, 
    70083, 70079, 70078, 69981, 69817, 
    69729, 69623, 70081, 69727, 69777, 
    69979, 69906, 69874, 69504, 69983, 
    68700, 69905, 69574, 69826, 69754, 
    69825, 69468, 69755, 69753, 69614, 
    69548, 68699, 69704, 69703, 69700, 
    69699, 69347, 69318, 69619
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00084

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
68699 6M 0
68700 6M 0
69318 6M 0
69347 6M 0
69468 6M 0
69504 6M 0
69548 6M 0
69574 6M 0
69614 6M 0
69619 6M 0
69623 6M 0
69699 6M 0
69700 6M 0
69703 6M 0
69704 6M 0
69727 6M 0
69729 6M 0
69744 6M 0
69753 6M 0
69754 6M 0
69755 6M 0
69777 6M 0
69817 6M 0
69825 6M 0
69826 6M 0
69874 6M 0
69905 6M 0
69906 6M 0
69934 6M 0
69979 6M 0
69981 6M 0
69983 6M 0
70078 6M 0
70079 6M 0
70080 6M 0
70081 6M 0
70083 6M 0
70084 6M 0
70124 6M 0
70160 6M 0