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 (
    105398, 105397, 105396, 105395, 105394, 
    105393, 105392, 105391, 104328, 104286, 
    104277, 104276, 104275, 104273, 104272, 
    104271, 104270, 104251, 104250, 104249
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00059

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 21 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
104249 22M 0
104250 22M 0
104251 22M 0
104270 22M 0
104271 22M 0
104272 22M 0
104273 22M 0
104275 22M 0
104276 22M 0
104277 22M 0
104286 22M 0
104328 33,22M 0
105391 22M 0
105392 22M 0
105393 22M 0
105394 22M 0
105395 22M 0
105396 22M 0
105397 22M 0
105398 22M 0