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 (
    104248, 104288, 104287, 102289, 102288, 
    102287, 102286, 102285, 102284, 102283, 
    102282, 102278, 104481, 104480, 104479, 
    104478, 104477, 104476, 104475, 104474
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00067

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 23 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
102278 22M 0
102282 22M 0
102283 22M 0
102284 22M 0
102285 22M 0
102286 22M 0
102287 22M 0
102288 22M 0
102289 22M 0
104248 22M 0
104287 22M 0
104288 22M 0
104474 33,22M 0
104475 33,22M 0
104476 22M 0
104477 22M 0
104478 33,22M 0
104479 22M 0
104480 22M 0
104481 22M 0