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 (
    87668, 87667, 87689, 87688, 87651, 87790, 
    87789, 87681, 87758, 87757, 87756, 
    87755, 87684, 87677, 87585, 87885, 
    88049, 88048, 88047, 88046, 88045, 
    87873, 87766, 87765, 87646, 87590, 
    87589, 88131, 88130, 88129, 88128, 
    88071, 88070, 88069, 88057, 88056, 
    88055, 87482, 87481, 87487
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00058

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 58 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
87481 22M 0
87482 22M 0
87487 22M 0
87585 22M 0
87589 22M 0
87590 22M 0
87646 22M 0
87651 22M 0
87667 33,22M 0
87668 33,22M 0
87677 22M 0
87681 22M 0
87684 22M 0
87688 22M 0
87689 22M 0
87755 33,22M 0
87756 33,22M 0
87757 33,22M 0
87758 33,22M 0
87765 22M 0
87766 22M 0
87789 33,22M 0
87790 33,22M 0
87873 22M 0
87885 22M 0
88045 22M 0
88046 22M 0
88047 22M 0
88048 22M 0
88049 22M 0
88055 33,22M 0
88056 33,22M 0
88057 33,22M 0
88069 33,22M 0
88070 33,22M 0
88071 33,22M 0
88128 33,22M 0
88129 33,22M 0
88130 33,22M 0
88131 33,22M 0