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 (
    19760, 22462, 19816, 19761, 19817, 20947, 
    19814, 19438, 19819, 19444, 19439, 
    20168, 19445, 19440, 19430, 20673, 
    19431, 19934, 20674, 19432, 19443, 
    21341, 19861, 22253, 19815, 19435, 
    19436, 19437, 19818, 19138, 19441, 
    19442, 19932, 19433, 19759, 19434
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00087

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "table": {
          "table_name": "cscart_products_categories",
          "access_type": "range",
          "possible_keys": ["PRIMARY", "pt"],
          "key": "pt",
          "key_length": "3",
          "used_key_parts": ["product_id"],
          "rows": 37,
          "filtered": 100,
          "index_condition": "cscart_products_categories.product_id in (19760,22462,19816,19761,19817,20947,19814,19438,19819,19444,19439,20168,19445,19440,19430,20673,19431,19934,20674,19432,19443,21341,19861,22253,19815,19435,19436,19437,19818,19138,19441,19442,19932,19433,19759,19434)"
        }
      },
      {
        "table": {
          "table_name": "cscart_categories",
          "access_type": "eq_ref",
          "possible_keys": ["PRIMARY", "c_status", "p_category_id"],
          "key": "PRIMARY",
          "key_length": "3",
          "used_key_parts": ["category_id"],
          "ref": ["lillyshop_lillyshop.cscart_products_categories.category_id"],
          "rows": 1,
          "filtered": 100,
          "attached_condition": "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')"
        }
      }
    ]
  }
}