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 (
    102182, 102181, 101847, 101846, 101845, 
    101844, 101843, 101826, 101825, 101812, 
    101811, 101810, 101707, 101706, 101472, 
    101961, 101699, 101403, 101402, 101401
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00076

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 27 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
101401 32,22M 0
101402 32,22M 0
101403 32,22M 0
101472 32,22M 0
101699 22M 0
101706 22M 0
101707 22M 0
101810 22M 0
101811 22M 0
101812 22M 0
101825 22M 0
101826 22M 0
101843 22M 0
101844 22M 0
101845 22M 0
101846 22M 0
101847 22M 0
101961 33,22M 0
102181 33,22M 0
102182 33,22M 0