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 (
    106206, 106040, 105969, 105968, 105777, 
    105776, 105766, 105765, 105721, 105720, 
    105719, 105718, 105717, 104776, 104722, 
    105613, 105612, 105611, 105488, 105487
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00106

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 24 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
104722 22M 0
104776 22M 0
105487 33,22M 0
105488 33,22M 0
105611 22M 0
105612 22M 0
105613 22M 0
105717 22M 0
105718 22M 0
105719 22M 0
105720 22M 0
105721 22M 0
105765 22M 0
105766 22M 0
105776 22M 0
105777 22M 0
105968 33,22M 0
105969 33,22M 0
106040 22M 0
106206 22M 0