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 (
    109476, 110290, 110148, 110032, 109711, 
    109710, 109709, 109708, 109707, 109706, 
    109705, 109704, 109703, 109885, 109762, 
    109761, 109685, 110147, 109668, 109667
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00064

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 22 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
109476 22M 0
109667 22M 0
109668 22M 0
109685 22M 0
109703 22M 0
109704 22M 0
109705 22M 0
109706 22M 0
109707 22M 0
109708 22M 0
109709 22M 0
109710 22M 0
109711 22M 0
109761 32,22M 0
109762 22M 0
109885 22M 0
110032 22M 0
110147 22M 0
110148 33,22M 0
110290 22M 0