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 (
    88095, 88094, 88093, 88092, 88091, 88090, 
    88089, 88088, 88087, 88086, 88082, 
    88081, 87851, 87731, 87730, 87729, 
    87728, 88625, 88624, 88623, 88039, 
    88532, 88531, 88530, 88406, 88405, 
    88404, 88403, 88402, 88401, 87762, 
    87678, 88629, 88628, 88627, 88626, 
    88575, 88574, 88573, 88149
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00086

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 47 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
87678 22M 0
87728 33,22M 0
87729 33,22M 0
87730 33,22M 0
87731 33,22M 0
87762 22M 0
87851 33,22M 0
88039 22M 0
88081 22M 0
88082 22M 0
88086 22M 0
88087 22M 0
88088 22M 0
88089 22M 0
88090 22M 0
88091 33,22M 0
88092 22M 0
88093 22M 0
88094 33,22M 0
88095 22M 0
88149 22M 0
88401 22M 0
88402 22M 0
88403 22M 0
88404 22M 0
88405 22M 0
88406 22M 0
88530 22M 0
88531 22M 0
88532 22M 0
88573 22M 0
88574 22M 0
88575 22M 0
88623 22M 0
88624 22M 0
88625 22M 0
88626 22M 0
88627 22M 0
88628 22M 0
88629 22M 0