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 (
    5346, 5387, 5309, 5386, 5370, 5369, 5371, 
    5392, 5390, 5372, 11255, 11277, 10956, 
    11280, 11456, 11118, 11131, 10954, 
    11074, 11222, 11102, 11112, 11069, 
    11099, 10955, 11119, 11120, 11311, 
    11057, 11058, 11076, 11091, 11253, 
    11312, 11059, 11098, 11113, 11262, 
    11283, 11314, 11329, 11010, 11012, 
    11060, 11062, 11115, 10961, 11079, 
    11092, 11116, 11285, 11002, 11061, 
    11063, 11066, 11078, 11095, 11097, 
    11114, 11221, 11286, 11379, 11103, 
    11290
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00221

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "186.41"
    },
    "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": 213,
            "rows_produced_per_join": 213,
            "filtered": "100.00",
            "index_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`cscart_products_categories`.`product_id` in (5346,5387,5309,5386,5370,5369,5371,5392,5390,5372,11255,11277,10956,11280,11456,11118,11131,10954,11074,11222,11102,11112,11069,11099,10955,11119,11120,11311,11057,11058,11076,11091,11253,11312,11059,11098,11113,11262,11283,11314,11329,11010,11012,11060,11062,11115,10961,11079,11092,11116,11285,11002,11061,11063,11066,11078,11095,11097,11114,11221,11286,11379,11103,11290))",
            "cost_info": {
              "read_cost": "90.56",
              "eval_cost": "21.30",
              "prefix_cost": "111.86",
              "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": 10,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "53.25",
              "eval_cost": "1.07",
              "prefix_cost": "186.41",
              "data_read_per_join": "33K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}