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 (
    92732, 92731, 92730, 92729, 92728, 92726, 
    92725, 92723, 92721, 92720, 92719, 
    92718, 92717, 92716, 92715, 92713, 
    92712, 92711, 92710, 92709
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00084

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 20 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
92709 4M 0
92710 4M 0
92711 4M 0
92712 4M 0
92713 4M 0
92715 4M 0
92716 4M 0
92717 4M 0
92718 4M 0
92719 4M 0
92720 4M 0
92721 4M 0
92723 4M 0
92725 4M 0
92726 4M 0
92728 4M 0
92729 4M 0
92730 4M 0
92731 4M 0
92732 4M 0