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 = 29 
WHERE 
  cscart_products_categories.product_id IN (
    6978, 7272, 7266, 7265, 7096, 7279, 7498, 
    7492, 7491, 7807, 14126, 14115, 7802, 
    7987, 32993, 7997, 7993, 8290, 14266, 
    14265
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00052

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 31 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
6978 29M 0
7096 29,4M 0
7265 29M 0
7266 29M 0
7272 29M 0
7279 29,4M 0
7491 29M 0
7492 29M 0
7498 29,4M 0
7802 29,4M 0
7807 29,4M 0
7987 29,4M 0
7993 29M 0
7997 29,4M 0
8290 29M 0
14115 29M 0
14126 29,4M 0
14265 29,4M 0
14266 29,4M 0
32993 29,4M 0