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 (
    88194, 88192, 88190, 88189, 88188, 88186, 
    88185, 88137, 88136, 88135, 88054, 
    88053, 88052, 88051, 88050, 87782, 
    87781, 87697, 87696, 87695, 87694, 
    87581, 88552, 88551, 88550, 88549, 
    88548, 88547, 88080, 87985, 88796, 
    88795, 88083, 87879, 87704, 87693, 
    87690, 87587, 87586, 87669
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00074

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 57 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
87581 22M 0
87586 22M 0
87587 22M 0
87669 33,22M 0
87690 22M 0
87693 22M 0
87694 33,22M 0
87695 33,22M 0
87696 33,22M 0
87697 33,22M 0
87704 22M 0
87781 22M 0
87782 22M 0
87879 22M 0
87985 22M 0
88050 33,22M 0
88051 33,22M 0
88052 33,22M 0
88053 33,22M 0
88054 33,22M 0
88080 32,22M 0
88083 22M 0
88135 22M 0
88136 22M 0
88137 22M 0
88185 22M 0
88186 22M 0
88188 22M 0
88189 22M 0
88190 22M 0
88192 22M 0
88194 22M 0
88547 33,22M 0
88548 33,22M 0
88549 33,22M 0
88550 33,22M 0
88551 33,22M 0
88552 33,22M 0
88795 22M 0
88796 22M 0