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 = 22 
WHERE 
  cscart_products_categories.product_id IN (
    110562, 110561, 110560, 110498, 110497, 
    110461, 111790, 110444, 111668, 111372, 
    111120, 111119, 110544, 110385, 110368, 
    110367, 110363, 110362, 110361, 110360
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00215

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 26 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
110360 22M 0
110361 22M 0
110362 22M 0
110363 22M 0
110367 22M 0
110368 22M 0
110385 22M 0
110444 22M 0
110461 22M 0
110497 33,22M 0
110498 33,22M 0
110544 22M 0
110560 33,22M 0
110561 33,22M 0
110562 33,22M 0
111119 22M 0
111120 22M 0
111372 33,22M 0
111668 22M 0
111790 22M 0