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 (
    95114, 99478, 136598, 98587, 93064, 
    90460, 99480, 91782, 92017, 91783, 
    91777, 95110, 95716, 92365, 131318, 
    131312, 98586, 104674, 93059, 104677, 
    98584, 92030, 127795, 93062, 92461, 
    92031, 92465, 91357, 92462, 92367, 
    93063, 95702, 93065, 97069, 93066, 
    92464, 123544, 93058, 97078, 189132, 
    104676, 91356, 96730, 97156, 123546, 
    104675, 92463, 95107, 131316, 131320, 
    95072, 93054, 104673, 127897, 97071, 
    136415, 93061
  ) 
GROUP BY 
  products_categories.product_id

Query time 0.00163

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "31.65"
    },
    "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": 57,
            "rows_produced_per_join": 57,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "6.00",
              "eval_cost": "5.70",
              "prefix_cost": "11.70",
              "data_read_per_join": "912"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`goimagine`.`products_categories`.`product_id` in (95114,99478,136598,98587,93064,90460,99480,91782,92017,91783,91777,95110,95716,92365,131318,131312,98586,104674,93059,104677,98584,92030,127795,93062,92461,92031,92465,91357,92462,92367,93063,95702,93065,97069,93066,92464,123544,93058,97078,189132,104676,91356,96730,97156,123546,104675,92463,95107,131316,131320,95072,93054,104673,127897,97071,136415,93061))"
          }
        },
        {
          "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": 2,
            "filtered": "5.00",
            "cost_info": {
              "read_cost": "14.25",
              "eval_cost": "0.29",
              "prefix_cost": "31.65",
              "data_read_per_join": "7K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}