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 (
    74405, 74404, 74403, 74402, 74401, 74400, 
    74399, 74398, 74397, 74396, 74395, 
    74394, 73974, 74268, 74180, 74091, 
    73995, 73744, 74267, 73822, 73690, 
    73601, 74090, 74089, 74088, 74087, 
    74086, 74085, 74084, 74083, 74082, 
    74081, 74080, 74079, 74078, 74077, 
    74076, 74075, 74074, 74073
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00067

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
73601 6M 0
73690 6M 0
73744 29,6M 0
73822 6M 0
73974 6M 0
73995 6M 0
74073 6M 0
74074 6M 0
74075 6M 0
74076 6M 0
74077 6M 0
74078 6M 0
74079 6M 0
74080 6M 0
74081 6M 0
74082 6M 0
74083 6M 0
74084 6M 0
74085 6M 0
74086 6M 0
74087 6M 0
74088 6M 0
74089 6M 0
74090 6M 0
74091 6M 0
74180 6M 0
74267 6M 0
74268 6M 0
74394 6M 0
74395 6M 0
74396 6M 0
74397 6M 0
74398 6M 0
74399 6M 0
74400 6M 0
74401 6M 0
74402 6M 0
74403 6M 0
74404 6M 0
74405 6M 0