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 (
    1128, 1127, 1126, 1125, 1124, 1123, 1139, 
    1138, 1137, 1136, 1135, 1134, 1133, 
    1132, 1131, 1130, 1129, 827, 1141, 851, 
    9602, 9603, 9604, 9615, 9646, 9647, 
    9648, 9649, 9653, 9654, 9655, 9656, 
    9657, 9658, 9659, 9660, 9869, 9868, 
    9870, 9871, 9874, 9875, 9877, 9878, 
    9881, 9882, 9884, 9885
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00207

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "73.61"
    },
    "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": 77,
            "rows_produced_per_join": 77,
            "filtered": "100.00",
            "index_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`cscart_products_categories`.`product_id` in (1128,1127,1126,1125,1124,1123,1139,1138,1137,1136,1135,1134,1133,1132,1131,1130,1129,827,1141,851,9602,9603,9604,9615,9646,9647,9648,9649,9653,9654,9655,9656,9657,9658,9659,9660,9869,9868,9870,9871,9874,9875,9877,9878,9881,9882,9884,9885))",
            "cost_info": {
              "read_cost": "38.96",
              "eval_cost": "7.70",
              "prefix_cost": "46.66",
              "data_read_per_join": "1K"
            },
            "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": 3,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "19.25",
              "eval_cost": "0.39",
              "prefix_cost": "73.61",
              "data_read_per_join": "12K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}