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 (
    67257, 67256, 66534, 67158, 67208, 67196, 
    67195, 66979, 66878, 66812, 66787, 
    66527, 65967, 66881, 67016, 67014, 
    66981, 66980, 66784, 66622, 66621, 
    66393, 61786, 66986, 66985, 66978, 
    66846, 66843, 66842, 66783, 66780, 
    66286, 66283, 66214, 66779, 65966, 
    66533, 66729, 66594, 66287
  ) 
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 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
61786 6M 0
65966 6M 0
65967 6M 0
66214 6M 0
66283 6M 0
66286 6M 0
66287 6M 0
66393 6M 0
66527 6M 0
66533 6M 0
66534 6M 0
66594 6M 0
66621 6M 0
66622 6M 0
66729 6M 0
66779 6M 0
66780 6M 0
66783 6M 0
66784 6M 0
66787 6M 0
66812 6M 0
66842 6M 0
66843 6M 0
66846 6M 0
66878 6M 0
66881 6M 0
66978 6M 0
66979 6M 0
66980 6M 0
66981 6M 0
66985 6M 0
66986 6M 0
67014 6M 0
67016 6M 0
67158 6M 0
67195 6M 0
67196 6M 0
67208 6M 0
67256 6M 0
67257 6M 0