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 
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') 
WHERE 
  cscart_products_categories.product_id IN (
    1003, 1001, 1000, 508, 1139, 1138, 1137, 
    1136, 1135, 1134, 1133, 1132, 1131, 
    1130, 1129, 827, 1406, 1407, 1408, 1409, 
    1410, 1411, 1412, 1266, 1442, 1447, 
    2490, 2491, 2492, 2493, 2494, 2495, 
    2496, 2497, 2524, 2525, 2526, 2527, 
    2528, 2529, 2530, 2531, 2698, 3090, 
    3091, 3092, 3093, 3094, 3974, 3977, 
    3976, 3975, 3973, 3972, 3978, 3979, 
    4022, 4021, 4020, 4420, 4423, 4426, 
    4416, 5618, 5619, 5620, 5621, 5696, 
    5697, 5698, 5699, 5721, 5722, 5723, 
    5724, 5725, 5726
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00375

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "173.66"
    },
    "grouping_operation": {
      "using_filesort": false,
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_products_categories",
            "access_type": "range",
            "possible_keys": [
              "PRIMARY",
              "pt"
            ],
            "key": "pt",
            "used_key_parts": [
              "product_id"
            ],
            "key_length": "3",
            "rows_examined_per_scan": 193,
            "rows_produced_per_join": 193,
            "filtered": "100.00",
            "index_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`cscart_products_categories`.`product_id` in (1003,1001,1000,508,1139,1138,1137,1136,1135,1134,1133,1132,1131,1130,1129,827,1406,1407,1408,1409,1410,1411,1412,1266,1442,1447,2490,2491,2492,2493,2494,2495,2496,2497,2524,2525,2526,2527,2528,2529,2530,2531,2698,3090,3091,3092,3093,3094,3974,3977,3976,3975,3973,3972,3978,3979,4022,4021,4020,4420,4423,4426,4416,5618,5619,5620,5621,5696,5697,5698,5699,5721,5722,5723,5724,5725,5726))",
            "cost_info": {
              "read_cost": "86.81",
              "eval_cost": "19.30",
              "prefix_cost": "106.11",
              "data_read_per_join": "3K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ]
          }
        },
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "eq_ref",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "p_category_id"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id"
            ],
            "key_length": "3",
            "ref": [
              "softwarepirmam_hewadelivard_cscart_4.cscart_products_categories.category_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 9,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "48.25",
              "eval_cost": "0.97",
              "prefix_cost": "173.66",
              "data_read_per_join": "30K"
            },
            "used_columns": [
              "category_id",
              "storefront_id",
              "usergroup_ids",
              "status"
            ],
            "attached_condition": "((`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`storefront_id` in (0,1)) and ((`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`usergroup_ids` = '') or (0 <> find_in_set(0,`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`usergroup_ids`)) or (0 <> find_in_set(1,`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`usergroup_ids`))) and (`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`status` in ('A','H')))"
          }
        }
      ]
    }
  }
}