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 (
    109698, 109440, 109439, 109438, 109437, 
    109436, 109435, 109434, 109433, 109432, 
    109431, 109430, 109429, 109364, 109082, 
    109081, 109075, 109074, 109073, 109068
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00051

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 24 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
109068 22M 0
109073 32,22M 0
109074 32,22M 0
109075 32,22M 0
109081 22M 0
109082 32,22M 0
109364 22M 0
109429 22M 0
109430 22M 0
109431 22M 0
109432 22M 0
109433 22M 0
109434 22M 0
109435 22M 0
109436 22M 0
109437 22M 0
109438 22M 0
109439 22M 0
109440 22M 0
109698 22M 0