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 (
    112062, 112061, 112060, 112059, 112058, 
    112057, 112056, 112055, 112054, 112052, 
    112051, 112435, 112434, 112290, 112289, 
    112536, 112535, 112534, 112533, 112532
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00107

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
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
112051 22M 0
112052 22M 0
112054 22M 0
112055 22M 0
112056 22M 0
112057 22M 0
112058 22M 0
112059 22M 0
112060 22M 0
112061 22M 0
112062 22M 0
112289 22M 0
112290 22M 0
112434 33,22M 0
112435 33,22M 0
112532 22M 0
112533 22M 0
112534 22M 0
112535 22M 0
112536 22M 0