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 = 4 
WHERE 
  cscart_products_categories.product_id IN (
    69132, 69131, 69252, 69412, 69405, 69404, 
    68938, 68937, 68936, 68934, 68933, 
    68932, 68931, 68930, 68929, 68928, 
    68927, 68926, 68925, 68924, 68923, 
    68922, 68918, 68917, 68915, 68913, 
    68857, 68856, 68855, 68854, 68853, 
    68852, 68851, 68849, 68846, 68842, 
    68841, 68840, 68839, 69286
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00098

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 46 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
68839 4M 0
68840 29,4M 0
68841 4M 0
68842 29,4M 0
68846 4M 0
68849 29,4M 0
68851 4M 0
68852 29,4M 0
68853 4M 0
68854 4M 0
68855 4M 0
68856 4M 0
68857 4M 0
68913 4M 0
68915 4M 0
68917 4M 0
68918 4M 0
68922 4M 0
68923 4M 0
68924 4M 0
68925 4M 0
68926 4M 0
68927 4M 0
68928 4M 0
68929 4M 0
68930 4M 0
68931 4M 0
68932 4M 0
68933 4M 0
68934 4M 0
68936 4M 0
68937 4M 0
68938 4M 0
69131 4M 0
69132 4M 0
69252 29,4M 0
69286 4M 0
69404 4M 0
69405 4M 0
69412 29,4M 0