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 (
    130681, 145323, 114897, 131992, 165403, 
    257589, 115093, 108241, 197488, 175093, 
    165284, 156319, 202170, 167561, 108245, 
    139394, 159546, 156799, 211705, 252518, 
    108234, 164905, 108385, 112103, 129512, 
    161993, 112102, 129527, 144425, 131847, 
    108248, 120905, 108242, 242304, 111949, 
    196622, 111951, 133995, 128503, 131987, 
    156326, 114827, 132626, 135126, 138125, 
    161899, 114282, 174366
  ) 
GROUP BY 
  products_categories.product_id

Query time 0.00295

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "140.61"
    },
    "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": 255,
            "rows_produced_per_join": 255,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "25.86",
              "eval_cost": "25.50",
              "prefix_cost": "51.36",
              "data_read_per_join": "3K"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`goimagine`.`products_categories`.`product_id` in (130681,145323,114897,131992,165403,257589,115093,108241,197488,175093,165284,156319,202170,167561,108245,139394,159546,156799,211705,252518,108234,164905,108385,112103,129512,161993,112102,129527,144425,131847,108248,120905,108242,242304,111949,196622,111951,133995,128503,131987,156326,114827,132626,135126,138125,161899,114282,174366))"
          }
        },
        {
          "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": 12,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "63.75",
              "eval_cost": "1.28",
              "prefix_cost": "140.61",
              "data_read_per_join": "33K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}