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 (
    104473, 104472, 104471, 104470, 104469, 
    104468, 104467, 104466, 104465, 104464, 
    102273, 102272, 102271, 102241, 105014, 
    104448, 102207, 105000, 104893, 104892
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00054

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 27 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
102207 22M 0
102241 33,22M 0
102271 33,22M 0
102272 33,22M 0
102273 33,22M 0
104448 22M 0
104464 22M 0
104465 22M 0
104466 22M 0
104467 22M 0
104468 22M 0
104469 33,22M 0
104470 22M 0
104471 33,22M 0
104472 22M 0
104473 33,22M 0
104892 22M 0
104893 22M 0
105000 22M 0
105014 22M 0