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 (
    4013, 4067, 4219, 4215, 4170, 4172, 4166, 
    4482, 4085, 4198, 4173, 4869, 4222, 
    4483, 4217, 4480, 4174, 4872, 4878, 
    3988, 4084, 4481, 4474, 4089, 4866, 
    4877, 4871, 4875, 4083, 4168, 4201, 
    4162, 4868, 4477, 4223, 4090, 4860, 
    4078, 4202, 4547, 4216, 4221, 4876, 
    4011, 4545, 4171, 4551, 4169, 4175, 
    4220, 4858, 4859, 4199, 4484, 4550, 
    4873, 4546, 4549, 4874, 4867, 4082, 
    4479, 4865, 4200, 4864, 4214, 4863
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00277

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "147.96"
    },
    "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": 164,
            "rows_produced_per_join": 164,
            "filtered": "100.00",
            "index_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`cscart_products_categories`.`product_id` in (4013,4067,4219,4215,4170,4172,4166,4482,4085,4198,4173,4869,4222,4483,4217,4480,4174,4872,4878,3988,4084,4481,4474,4089,4866,4877,4871,4875,4083,4168,4201,4162,4868,4477,4223,4090,4860,4078,4202,4547,4216,4221,4876,4011,4545,4171,4551,4169,4175,4220,4858,4859,4199,4484,4550,4873,4546,4549,4874,4867,4082,4479,4865,4200,4864,4214,4863))",
            "cost_info": {
              "read_cost": "74.16",
              "eval_cost": "16.40",
              "prefix_cost": "90.56",
              "data_read_per_join": "2K"
            },
            "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": 8,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "41.00",
              "eval_cost": "0.82",
              "prefix_cost": "147.96",
              "data_read_per_join": "25K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}