SELECT 
  products_categories.product_id, 
  GROUP_CONCAT(
    IF(
      products_categories.link_type = "M", 
      CONCAT(
        products_categories.category_id, 
        "M"
      ), 
      products_categories.category_id
    )
  ) AS category_ids 
FROM 
  products_categories 
  INNER JOIN categories ON categories.category_id = products_categories.category_id 
  AND categories.storefront_id IN (0, 1) 
  AND (
    categories.usergroup_ids = '' 
    OR FIND_IN_SET(0, categories.usergroup_ids) 
    OR FIND_IN_SET(1, categories.usergroup_ids)
  ) 
  AND categories.status IN ('A', 'H') 
WHERE 
  products_categories.product_id IN (
    241402, 242084, 238468, 238494, 238463, 
    238437, 238479, 238471, 238457, 238445, 
    238472, 238453, 238444, 238475, 238446, 
    238461, 238465, 238470, 238487, 238492, 
    238440, 238481, 238486, 238467, 238484, 
    238460, 238462, 238477, 238490, 238489, 
    238447, 238485, 238443, 238495, 238448, 
    238442, 238438, 238493, 238454, 238488, 
    238449, 238441, 238480, 238458, 238482, 
    238483, 238439, 238464
  ) 
GROUP BY 
  products_categories.product_id

Query time 0.00200

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "103.20"
    },
    "grouping_operation": {
      "using_filesort": false,
      "nested_loop": [
        {
          "table": {
            "table_name": "products_categories",
            "access_type": "range",
            "possible_keys": [
              "PRIMARY",
              "link_type",
              "pt"
            ],
            "key": "pt",
            "used_key_parts": [
              "product_id"
            ],
            "key_length": "3",
            "rows_examined_per_scan": 187,
            "rows_produced_per_join": 187,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "19.05",
              "eval_cost": "18.70",
              "prefix_cost": "37.75",
              "data_read_per_join": "2K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`goimagine`.`products_categories`.`product_id` in (241402,242084,238468,238494,238463,238437,238479,238471,238457,238445,238472,238453,238444,238475,238446,238461,238465,238470,238487,238492,238440,238481,238486,238467,238484,238460,238462,238477,238490,238489,238447,238485,238443,238495,238448,238442,238438,238493,238454,238488,238449,238441,238480,238458,238482,238483,238439,238464))"
          }
        },
        {
          "table": {
            "table_name": "categories",
            "access_type": "eq_ref",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "p_category_id"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id"
            ],
            "key_length": "3",
            "ref": [
              "goimagine.products_categories.category_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 9,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "46.75",
              "eval_cost": "0.94",
              "prefix_cost": "103.20",
              "data_read_per_join": "24K"
            },
            "used_columns": [
              "category_id",
              "usergroup_ids",
              "status",
              "storefront_id"
            ],
            "attached_condition": "((`goimagine`.`categories`.`storefront_id` in (0,1)) and ((`goimagine`.`categories`.`usergroup_ids` = '') or (0 <> find_in_set(0,`goimagine`.`categories`.`usergroup_ids`)) or (0 <> find_in_set(1,`goimagine`.`categories`.`usergroup_ids`))) and (`goimagine`.`categories`.`status` in ('A','H')))"
          }
        }
      ]
    }
  }
}