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 (
    110297, 110296, 110295, 110294, 110293, 
    110292, 110291, 109632, 109631, 109630, 
    109629, 109627, 110150, 110091, 109592, 
    110153, 110152, 110151, 109581, 110038
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00079

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
109581 22M 0
109592 22M 0
109627 22M 0
109629 22M 0
109630 22M 0
109631 22M 0
109632 22M 0
110038 22M 0
110091 33,22M 0
110150 33,22M 0
110151 22M 0
110152 22M 0
110153 22M 0
110291 22M 0
110292 22M 0
110293 22M 0
110294 22M 0
110295 22M 0
110296 22M 0
110297 22M 0