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 = 66 
WHERE 
  cscart_products_categories.product_id IN (
    125022, 124984, 124864, 125040, 124545, 
    124306, 124500, 124267, 123527, 123663, 
    122622, 121624, 120857, 120309, 120299, 
    119361, 118451, 118450, 118222, 117510, 
    117207, 117055, 116706, 116944, 116153, 
    115940, 114765, 114227, 113387, 112100
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00050

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 62 Using where; Using index
1 SIMPLE product_position_source eq_ref PRIMARY,pt PRIMARY 6 const,toolboxdigitalshop_dev.cscart_products_categories.product_id 1
1 SIMPLE cscart_categories eq_ref PRIMARY,c_status,p_category_id PRIMARY 3 toolboxdigitalshop_dev.cscart_products_categories.category_id 1 Using where

Result

product_id category_ids position
112100 66,1M 0
113387 66,1M 0
114227 66,1M 0
114765 66,1M 0
115940 66,1M 0
116153 66,1M 0
116706 66,1M 0
116944 66,1M 0
117055 66,1M 0
117207 66,1M 0
117510 66,1M 0
118222 66,1M 0
118450 66,1M 0
118451 66,1M 0
119361 66,1M 0
120299 66,1M 0
120309 66,1M 0
120857 66,1M 0
121624 66,1M 0
122622 66,1M 0
123527 66,1M 0
123663 28,66,1M 0
124267 66,1M 0
124306 66,1M 0
124500 66,1M 0
124545 66,1M 0
124864 66,1M 0
124984 28,66,1M 0
125022 66,1M 0
125040 66,1M 0