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, 
  product_position_source.position AS position 
FROM 
  cscart_products_categories 
  INNER JOIN cscart_categories ON cscart_categories.category_id = cscart_products_categories.category_id 
  AND cscart_categories.company_id = 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') 
  LEFT JOIN cscart_products_categories AS product_position_source ON cscart_products_categories.product_id = product_position_source.product_id 
  AND product_position_source.category_id = 1571 
WHERE 
  cscart_products_categories.product_id IN (
    58884, 62123, 29986, 60914, 29983, 60749, 
    29992, 29989, 60748, 63034, 62012, 
    60739, 60745, 61430, 62240, 63755, 
    60753, 64625, 62259, 64624, 61340, 
    61337, 64616, 60746, 64617, 60736, 
    64615, 62252, 61336, 62253, 64614, 
    60731, 60726, 60750, 60734, 61388, 
    64622, 60741, 64623, 64626, 60747, 
    62254, 60730, 62260, 60740, 61387, 
    60742, 61171
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00164

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "cscart_products_categories",
      "access_type": "range",
      "possible_keys": ["PRIMARY", "pt"],
      "key": "pt",
      "key_length": "3",
      "used_key_parts": ["product_id"],
      "rows": 177,
      "filtered": 100,
      "attached_condition": "cscart_products_categories.product_id in (58884,62123,29986,60914,29983,60749,29992,29989,60748,63034,62012,60739,60745,61430,62240,63755,60753,64625,62259,64624,61340,61337,64616,60746,64617,60736,64615,62252,61336,62253,64614,60731,60726,60750,60734,61388,64622,60741,64623,64626,60747,62254,60730,62260,60740,61387,60742,61171)",
      "using_index": true
    },
    "table": {
      "table_name": "product_position_source",
      "access_type": "eq_ref",
      "possible_keys": ["PRIMARY", "pt"],
      "key": "PRIMARY",
      "key_length": "6",
      "used_key_parts": ["category_id", "product_id"],
      "ref": ["const", "cscart_migrate.cscart_products_categories.product_id"],
      "rows": 1,
      "filtered": 100
    },
    "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": ["cscart_migrate.cscart_products_categories.category_id"],
      "rows": 1,
      "filtered": 100,
      "attached_condition": "cscart_categories.company_id = 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')"
    }
  }
}

Result