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 = 1 
WHERE 
  cscart_products_categories.product_id IN (
    80587, 80567, 80015, 80010, 80009, 80004, 
    80472, 103007, 80448, 80001, 80272, 
    80080, 80079, 80078, 80077, 80076, 
    80075, 80074, 80073, 80072
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00054

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
80001 1M 0
80004 1M 0
80009 1M 0
80010 1M 0
80015 1M 0
80072 1M 0
80073 1M 0
80074 1M 0
80075 1M 0
80076 1M 0
80077 1M 0
80078 1M 0
80079 1M 0
80080 1M 0
80272 1M 0
80448 1M 0
80472 1M 0
80567 1M 0
80587 1M 0
103007 1M 0