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 (
    98240, 98239, 98238, 98237, 98236, 98234, 
    98233, 98218, 97607, 98225, 98224, 
    98217, 98200, 98179, 98176, 98165, 
    98078, 97968, 97967, 97537
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00121

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
97537 6M 0
97607 6M 0
97967 6M 0
97968 6M 0
98078 6M 0
98165 6M 0
98176 6M 0
98179 6M 0
98200 6M 0
98217 6M 0
98218 6M 0
98224 6M 0
98225 6M 0
98233 6M 0
98234 6M 0
98236 6M 0
98237 6M 0
98238 6M 0
98239 6M 0
98240 6M 0