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 = 1890 
WHERE 
  cscart_products_categories.product_id IN (
    61084, 61484, 61695, 62019, 59797, 61694, 
    58117, 59417, 64350, 63431, 59877, 
    59892, 59894, 62433, 59893, 64352, 
    62058, 64367, 64366, 62582, 62173, 
    62165, 59407, 63829
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00092

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": 180,
      "filtered": 100,
      "attached_condition": "cscart_products_categories.product_id in (61084,61484,61695,62019,59797,61694,58117,59417,64350,63431,59877,59892,59894,62433,59893,64352,62058,64367,64366,62582,62173,62165,59407,63829)",
      "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

product_id category_ids position
58117 1543,1603,1704,1760,1820,1890M 0
59407 1543,1704,1708,1905,1890M 0
59417 1543,1613,1704,1890M 0
59797 1543,1603,1626,1704,1890M 0
59877 1603,1604,1614,1704,1705,1708,1890,1905,2001,1894M 0
59892 1544,1603,1604,1616,1659,1704,1705,1708,1890,1905,2001,1894M 0
59893 1603,1604,1626,1704,1705,1708,1890,1905,2001,1894M 0
59894 1603,1604,1617,1704,1705,1708,1890,1905,2001,1894M 0
61084 1543,1603,1619,1704,1708,1905,2001,1890M 0
61484 1543,1639,1704,2003,1890M 0
61694 1543,1603,1635,1704,1708,2001,1890M 0
61695 1543,1603,1636,1704,1708,1905,2001,1890M 0
62019 1543,1603,1621,1625,1704,1708,1905,2001,1890M 0
62058 1543,1553,1620,1704,2002,1890M 0
62165 1543,1603,1616,1645,1704,1708,1905,2001,1890M 0
62173 1543,1603,1619,1643,1704,1708,1905,2001,1890M 0
62433 1543,1620,1624,1704,1890M 0
62582 1543,1603,1644,1704,1708,1905,2001,1890M 0
63431 1544,1547,1659,1704,1705,1756,1827,1883,1890,2002,1894M 0
63829 1543,1603,1704,1708,1761,1905,2001,1890M 0
64350 1543,1611,1613,1704,1748,2003,1890M 0
64352 1543,1611,1704,1755,1890M 0
64366 1543,1552,1603,1704,1746,2002,1890M 0
64367 1543,1603,1704,1745,2002,1890M 0