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 (
    4602, 4598, 4503, 4138, 4613, 4504, 4560, 
    4558, 4184, 4585, 4177, 4119, 4345, 
    4635, 4611, 4347, 4466, 4557, 4196, 
    4454, 4207, 4343, 4130, 4139
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00187

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "50.81"
    },
    "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": 56,
            "rows_produced_per_join": 56,
            "filtered": "100.00",
            "index_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`cscart_products_categories`.`product_id` in (4602,4598,4503,4138,4613,4504,4560,4558,4184,4585,4177,4119,4345,4635,4611,4347,4466,4557,4196,4454,4207,4343,4130,4139))",
            "cost_info": {
              "read_cost": "25.61",
              "eval_cost": "5.60",
              "prefix_cost": "31.21",
              "data_read_per_join": "896"
            },
            "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": 2,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "14.00",
              "eval_cost": "0.28",
              "prefix_cost": "50.81",
              "data_read_per_join": "8K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}

Result

product_id category_ids
4119 513,166,517M
4130 513,166,514M
4138 513,166,517M
4139 513,166,517M
4177 513,166,517M
4184 513,166,517M
4196 513,166,517M
4207 513,166,514M
4343 513,166,517M
4345 513,166,516M
4347 513,166,514M
4454 513,166,514M
4466 513,166,515M
4503 513,166,515M
4504 513,166,515M
4557 513,166,516M
4558 513,166,516M
4560 513,166,516M
4585 513,166,516M
4598 513,166,515M
4602 513,166,514M
4611 513,166,516M
4613 513,166,515M
4635 513,166,515M