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 (
    111575, 112163, 111572, 111571, 111570, 
    111569, 111568, 111567, 111566, 111565, 
    111564, 111563, 111562, 111561, 111560, 
    125112, 112045, 112044, 112043, 110706
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00053

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 21 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
110706 22M 0
111560 22M 0
111561 22M 0
111562 22M 0
111563 22M 0
111564 22M 0
111565 22M 0
111566 22M 0
111567 22M 0
111568 22M 0
111569 22M 0
111570 22M 0
111571 22M 0
111572 22M 0
111575 33,22M 0
112043 22M 0
112044 22M 0
112045 22M 0
112163 22M 0
125112 22M 0