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 (
    177, 179, 180, 181, 183, 184, 185, 186, 
    187, 188, 189, 190, 191, 7, 11, 12, 15, 
    27, 28, 29, 30, 31, 32, 33, 34, 37, 38, 
    39, 40, 41, 42, 43, 47, 48, 49, 50, 51, 
    52, 53, 54, 55, 56, 57, 58, 59, 60, 62, 
    63, 64, 65, 67, 68, 69, 70, 71, 72, 73, 
    74, 75, 76
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00137

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": 281,
              "filtered": 21.7081852,
              "attached_condition": "cscart_products_categories.product_id in (177,179,180,181,183,184,185,186,187,188,189,190,191,7,11,12,15,27,28,29,30,31,32,33,34,37,38,39,40,41,42,43,47,48,49,50,51,52,53,54,55,56,57,58,59,60,62,63,64,65,67,68,69,70,71,72,73,74,75,76)"
            }
          }
        }
      },
      {
        "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": ["cscart.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')"
        }
      }
    ]
  }
}