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 (
    61885, 61787, 61767, 61766, 61519, 61518, 
    61116, 60266, 59324, 61789, 61788, 
    61217, 59956, 61633, 61112, 61007, 
    61006, 60975, 60963, 60854, 60265, 
    61632, 61613, 61523, 61583, 61565, 
    58785, 61509, 61418, 61407, 61406, 
    61391, 61016, 60853, 60264, 59808, 
    61508, 60867, 61409, 61157
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00069

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 40 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
58785 6M 0
59324 6M 0
59808 6M 0
59956 6M 0
60264 6M 0
60265 6M 0
60266 6M 0
60853 6M 0
60854 6M 0
60867 6M 0
60963 6M 0
60975 6M 0
61006 6M 0
61007 6M 0
61016 6M 0
61112 6M 0
61116 6M 0
61157 6M 0
61217 6M 0
61391 6M 0
61406 6M 0
61407 6M 0
61409 6M 0
61418 6M 0
61508 6M 0
61509 6M 0
61518 6M 0
61519 6M 0
61523 6M 0
61565 6M 0
61583 6M 0
61613 6M 0
61632 6M 0
61633 6M 0
61766 6M 0
61767 6M 0
61787 6M 0
61788 6M 0
61789 6M 0
61885 6M 0