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 = 6 
WHERE 
  cscart_products_categories.product_id IN (
    67662, 67159, 67063, 67062, 67639, 67207, 
    67629, 67628, 67627, 67613, 67589, 
    67514, 66982, 66835, 66813, 65968, 
    67122, 66719, 67363, 67411, 67360, 
    66786, 66785, 66691, 61783, 67303, 
    67302, 67270, 67269, 67268, 67267, 
    67266, 67265, 67264, 67263, 67262, 
    67261, 67260, 67259, 67258
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00089

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 41 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
61783 6M 0
65968 6M 0
66691 6M 0
66719 6M 0
66785 6M 0
66786 6M 0
66813 6M 0
66835 6M 0
66982 6M 0
67062 6M 0
67063 6M 0
67122 6M 0
67159 6M 0
67207 29,6M 0
67258 6M 0
67259 6M 0
67260 6M 0
67261 6M 0
67262 6M 0
67263 6M 0
67264 6M 0
67265 6M 0
67266 6M 0
67267 6M 0
67268 6M 0
67269 6M 0
67270 6M 0
67302 6M 0
67303 6M 0
67360 6M 0
67363 6M 0
67411 6M 0
67514 6M 0
67589 6M 0
67613 6M 0
67627 6M 0
67628 6M 0
67629 6M 0
67639 6M 0
67662 6M 0