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 (
    67356, 67355, 67354, 67353, 67352, 67351, 
    67350, 67349, 67348, 67347, 67346, 
    67345, 67344, 67314, 67313, 76804, 
    76803, 76802, 76801, 76800, 76799, 
    76798, 76797, 76796, 76795, 76794, 
    67193, 67179, 67178, 67177, 67176, 
    67175, 67174, 67173, 67172, 67171, 
    67170, 67169, 67168, 67167
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00083

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt pt 3 45 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
67167 4M 0
67168 4M 0
67169 29,4M 0
67170 4M 0
67171 4M 0
67172 4M 0
67173 4M 0
67174 4M 0
67175 29,4M 0
67176 4M 0
67177 29,4M 0
67178 29,4M 0
67179 29,4M 0
67193 4M 0
67313 4M 0
67314 4M 0
67344 4M 0
67345 4M 0
67346 4M 0
67347 4M 0
67348 4M 0
67349 4M 0
67350 4M 0
67351 4M 0
67352 4M 0
67353 4M 0
67354 4M 0
67355 4M 0
67356 4M 0
76794 4M 0
76795 4M 0
76796 4M 0
76797 4M 0
76798 4M 0
76799 4M 0
76800 4M 0
76801 4M 0
76802 4M 0
76803 4M 0
76804 4M 0