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 (
    68280, 68279, 68278, 68277, 68276, 68275, 
    68274, 68575, 68204, 68406, 68375, 
    78288, 78287, 78286, 78285, 78284, 
    78283, 78282, 78281, 78280, 78279, 
    78278, 78277, 78276, 78275, 78274, 
    78273, 78272, 78271, 78270, 78269, 
    78268, 78267, 78266, 78265, 78264, 
    78263, 78262, 68395, 68189
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00076

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 43 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
68189 29,4M 0
68204 4M 0
68274 4M 0
68275 4M 0
68276 4M 0
68277 4M 0
68278 4M 0
68279 4M 0
68280 4M 0
68375 4M 0
68395 4M 0
68406 29,4M 0
68575 29,4M 0
78262 4M 0
78263 4M 0
78264 4M 0
78265 4M 0
78266 4M 0
78267 4M 0
78268 4M 0
78269 4M 0
78270 4M 0
78271 4M 0
78272 4M 0
78273 4M 0
78274 4M 0
78275 4M 0
78276 4M 0
78277 4M 0
78278 4M 0
78279 4M 0
78280 4M 0
78281 4M 0
78282 4M 0
78283 4M 0
78284 4M 0
78285 4M 0
78286 4M 0
78287 4M 0
78288 4M 0