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 (
    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, 
    213, 
    215, 
    217, 
    218, 
    220, 
    222, 
    224, 
    225, 
    226, 
    227, 
    228, 
    229, 
    230, 
    231, 
    232, 
    233, 
    234, 
    235, 
    236, 
    237, 
    238, 
    239, 
    242, 
    243, 
    78, 
    79, 
    80, 
    81, 
    82, 
    83, 
    84, 
    85, 
    86, 
    87, 
    88, 
    89, 
    90, 
    91, 
    92, 
    93, 
    94, 
    95, 
    96, 
    97, 
    100, 
    101, 
    102, 
    103, 
    104, 
    105, 
    106, 
    107, 
    108, 
    109, 
    110, 
    111, 
    112, 
    113, 
    114, 
    115, 
    116, 
    117, 
    118, 
    119, 
    120, 
    121, 
    122, 
    123, 
    124, 
    125, 
    126, 
    127, 
    128, 
    129, 
    130, 
    131, 
    132, 
    133, 
    134, 
    135, 
    136, 
    137, 
    138, 
    139, 
    140, 
    141, 
    142, 
    143, 
    144, 
    145, 
    146, 
    147, 
    148, 
    149, 
    150, 
    151, 
    152, 
    153, 
    154, 
    155, 
    156, 
    157, 
    158, 
    159, 
    160, 
    161, 
    162, 
    163, 
    164, 
    165, 
    167, 
    168, 
    169, 
    170, 
    171, 
    172, 
    173, 
    174, 
    175, 
    176, 
    177, 
    178, 
    179, 
    180, 
    181, 
    182, 
    183, 
    184, 
    185, 
    186, 
    187, 
    188, 
    189, 
    190, 
    191, 
    1, 
    5, 
    7, 
    8, 
    9, 
    10, 
    11, 
    12, 
    13, 
    14, 
    15, 
    16, 
    17, 
    18, 
    19, 
    20, 
    21, 
    22, 
    23, 
    24
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00223

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "read_sorted_file": {
          "filesort": {
            "sort_key": "cscart_products_categories.product_id",
            "table": {
              "table_name": "cscart_products_categories",
              "access_type": "ALL",
              "possible_keys": ["PRIMARY", "pt"],
              "rows": 267,
              "filtered": 78.65168762,
              "attached_condition": "cscart_products_categories.product_id in (278,280,282,247,248,241,244,245,246,240,6,66,166,214,219,221,223,192,194,195,196,197,198,199,200,201,202,203,204,205,206,207,208,209,210,211,212,213,215,217,218,220,222,224,225,226,227,228,229,230,231,232,233,234,235,236,237,238,239,242,243,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,100,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,1,5,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24)"
            }
          }
        }
      },
      {
        "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": ["n764025_kutubminar123.cscart_products_categories.category_id"],
          "rows": 1,
          "filtered": 100,
          "attached_condition": "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')"
        }
      }
    ]
  }
}

Result

product_id category_ids
1 190M
5 191M
6 191M
7 224M
8 193M,190
9 190,193M
10 193M,190
11 224M
12 224M
13 222M
14 191M
15 224M
16 194M
17 222M
18 194M
19 194M
20 222M
21 194M
22 195M
23 195M
24 195M
66 189M
78 226M
79 226M
80 226M
81 226M
82 246M
83 246M
84 246M
85 246M
86 238M
87 246M
88 247M
89 247M
90 247M
91 227M
92 227M
93 248M
94 248M
95 248M
96 248M
97 242M
100 242M
101 238M
102 227M
103 242M
104 242M
105 238M
106 238M
107 227M
108 242M
109 227M
110 243M
111 243M
112 243M
113 237M
114 243M
115 208M
116 243M
117 237M
118 244M
119 244M
120 237M
121 244M
122 208M
123 244M
124 208M
125 237M
126 251M
127 209M
128 251M
129 209M
130 251M
131 209M
132 182M,179
133 179M,182
134 179,182M
135 179,182M
136 249M
137 249M
138 249M
139 249M
140 180M
141 180M
142 180M
143 180M
144 180M
145 179M
146 179M
147 179M
148 179M
149 179M
150 210M
151 210M
152 210M
153 181M
154 181M
155 181M
156 181M
157 181M
158 253M
159 253M
160 210M
161 198M,199
162 253M
163 199,198M
164 199,198M
165 199,198M
166 199,198M
167 198,197M,199
168 199,198,197M
169 197M,198,199
170 212M
171 252M
172 199M
173 199M
174 252M
175 199M
176 252M
177 212M
178 252M
179 212M
180 200M
181 212M
182 252M
183 200M
184 200M
185 214M
186 214M
187 214M
188 213M
189 200M
190 200M
191 231M
192 232M
194 232M
195 232M
196 232M
197 229M,231
198 229M
199 229M
200 230M
201 230M
202 230M
203 230M
204 232M
205 171M
206 171M
207 171M
208 171M
209 172M
210 172M
211 172M
212 172M
213 201M
214 168M
215 201M
217 168M
218 168M
219 169M
220 169M
221 169M
222 169M
223 165M
224 165M
225 165M
226 201M
227 170M
228 170M
229 170M
230 216M
231 216M
232 216M
233 217M
234 217M
235 217M
236 218M
237 218M
238 235M
239 235M
240 165M
241 165M
242 178M
243 178M
244 168M
245 235M
246 199M
247 165M
248 248M,255
278 224M
280 224M
282 224M