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 (
    453, 
    454, 
    455, 
    450, 
    451, 
    452, 
    435, 
    439, 
    443, 
    430, 
    429, 
    428, 
    415, 
    416, 
    417, 
    418, 
    419, 
    420, 
    421, 
    422, 
    423, 
    424, 
    425, 
    426, 
    403, 
    404, 
    405, 
    406, 
    407, 
    408, 
    409, 
    410, 
    411, 
    412, 
    413, 
    414, 
    391, 
    392, 
    393, 
    394, 
    395, 
    396, 
    397, 
    398, 
    399, 
    400, 
    401, 
    402, 
    379, 
    380, 
    381, 
    382, 
    383, 
    384, 
    385, 
    386, 
    387, 
    388, 
    389, 
    390, 
    363, 
    364, 
    365, 
    366, 
    367, 
    368, 
    369, 
    370, 
    355, 
    356, 
    357, 
    358, 
    359, 
    360, 
    361, 
    362, 
    352, 
    353, 
    354, 
    350, 
    349, 
    346, 
    345, 
    331, 
    335, 
    339, 
    341, 
    315, 
    289, 
    287, 
    286, 
    278, 
    280, 
    282, 
    247, 
    248, 
    241, 
    244, 
    245, 
    246, 
    240, 
    6, 
    66, 
    166, 
    214, 
    219, 
    221, 
    223, 
    192, 
    194, 
    195, 
    196, 
    197, 
    198, 
    199, 
    200, 
    201, 
    202, 
    203, 
    204, 
    205, 
    206, 
    207, 
    208, 
    209, 
    210, 
    211, 
    212
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00174

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "39.29"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "3.73"
      },
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "ALL",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "p_category_id"
            ],
            "rows_examined_per_scan": 84,
            "rows_produced_per_join": 3,
            "filtered": "4.00",
            "cost_info": {
              "read_cost": "19.53",
              "eval_cost": "0.67",
              "prefix_cost": "20.20",
              "data_read_per_join": "8K"
            },
            "used_columns": [
              "category_id",
              "storefront_id",
              "usergroup_ids",
              "status"
            ],
            "attached_condition": "((`pankajecarter_systemfour`.`cscart_categories`.`storefront_id` in (0,1)) and ((`pankajecarter_systemfour`.`cscart_categories`.`usergroup_ids` = '') or find_in_set(0,`pankajecarter_systemfour`.`cscart_categories`.`usergroup_ids`) or find_in_set(1,`pankajecarter_systemfour`.`cscart_categories`.`usergroup_ids`)) and (`pankajecarter_systemfour`.`cscart_categories`.`status` in ('A','H')))"
          }
        },
        {
          "table": {
            "table_name": "cscart_products_categories",
            "access_type": "ref",
            "possible_keys": [
              "PRIMARY",
              "pt"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id"
            ],
            "key_length": "3",
            "ref": [
              "pankajecarter_systemfour.cscart_categories.category_id"
            ],
            "rows_examined_per_scan": 3,
            "rows_produced_per_join": 3,
            "filtered": "37.03",
            "index_condition": "(`pankajecarter_systemfour`.`cscart_products_categories`.`product_id` in (453,454,455,450,451,452,435,439,443,430,429,428,415,416,417,418,419,420,421,422,423,424,425,426,403,404,405,406,407,408,409,410,411,412,413,414,391,392,393,394,395,396,397,398,399,400,401,402,379,380,381,382,383,384,385,386,387,388,389,390,363,364,365,366,367,368,369,370,355,356,357,358,359,360,361,362,352,353,354,350,349,346,345,331,335,339,341,315,289,287,286,278,280,282,247,248,241,244,245,246,240,6,66,166,214,219,221,223,192,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212))",
            "cost_info": {
              "read_cost": "13.34",
              "eval_cost": "0.75",
              "prefix_cost": "35.55",
              "data_read_per_join": "59"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ]
          }
        }
      ]
    }
  }
}