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 (
    109673, 109488, 109235, 109234, 109233, 
    109737, 109148, 109147, 109146, 109145, 
    109144, 109143, 109142, 109779, 109778, 
    109135, 109702, 109701, 109700, 109699
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00080

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 25 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
109135 22M 0
109142 22M 0
109143 22M 0
109144 22M 0
109145 33,22M 0
109146 33,22M 0
109147 33,22M 0
109148 33,22M 0
109233 22M 0
109234 22M 0
109235 22M 0
109488 22M 0
109673 33,22M 0
109699 22M 0
109700 22M 0
109701 22M 0
109702 22M 0
109737 22M 0
109778 22M 0
109779 22M 0