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 (
    2227, 2226, 2430, 2431, 2655, 2698, 2702, 
    2703, 2719, 2728, 2918, 2919, 2922, 
    2923, 3150, 3151, 3213, 3214, 3216, 
    3215, 3220, 3221, 3222, 3223, 3289, 
    3310, 3309, 3382, 3383, 3385, 3386, 
    3522, 3523, 3532, 3533, 3552, 3553, 
    3664, 3665, 3832, 3831, 3834, 3835, 
    3668, 4102, 4103, 3682, 4106, 3684, 
    5117, 5116, 5114, 5804, 6193
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00468

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "154.31"
    },
    "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": 176,
            "rows_produced_per_join": 176,
            "filtered": "100.00",
            "index_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`cscart_products_categories`.`product_id` in (2227,2226,2430,2431,2655,2698,2702,2703,2719,2728,2918,2919,2922,2923,3150,3151,3213,3214,3216,3215,3220,3221,3222,3223,3289,3310,3309,3382,3383,3385,3386,3522,3523,3532,3533,3552,3553,3664,3665,3832,3831,3834,3835,3668,4102,4103,3682,4106,3684,5117,5116,5114,5804,6193))",
            "cost_info": {
              "read_cost": "75.11",
              "eval_cost": "17.60",
              "prefix_cost": "92.71",
              "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": "44.00",
              "eval_cost": "0.88",
              "prefix_cost": "154.31",
              "data_read_per_join": "27K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}