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 
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') 
WHERE 
  cscart_products_categories.product_id IN (
    68920, 68919, 68918, 68917, 68916, 68915, 
    68914, 66717, 66716, 66715, 66714, 
    66713, 66712, 66711, 66710, 66709, 
    66708, 66707, 66706, 66705
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00040

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 22 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

Result

product_id category_ids
66705 1M
66706 4M
66707 1M
66708 1M
66709 1M
66710 1M
66711 29,4M
66712 1M
66713 1M
66714 4M
66715 1M
66716 1M
66717 17,13M
68914 1M
68915 4M
68916 1M
68917 4M
68918 4M
68919 1M
68920 1M