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 (
    80633, 80632, 80631, 80630, 80629, 80628, 
    80627, 80626, 80625, 80624, 80623, 
    80622, 80621, 80620, 80619, 80618, 
    80617, 80616, 80615, 80614
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00058

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
80614 28,1M 0
80615 28,1M 0
80616 28,1M 0
80617 28,1M 0
80618 28,1M 0
80619 28,1M 0
80620 28,1M 0
80621 28,1M 0
80622 28,1M 0
80623 28,1M 0
80624 28,1M 0
80625 28,1M 0
80626 28,1M 0
80627 28,1M 0
80628 28,1M 0
80629 28,1M 0
80630 28,1M 0
80631 28,1M 0
80632 28,1M 0
80633 28,1M 0