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, 
  product_position_source.position AS position 
FROM 
  cscart_products_categories 
  INNER JOIN cscart_categories ON cscart_categories.category_id = cscart_products_categories.category_id 
  AND cscart_categories.company_id = 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') 
  LEFT JOIN cscart_products_categories AS product_position_source ON cscart_products_categories.product_id = product_position_source.product_id 
  AND product_position_source.category_id = 939 
WHERE 
  cscart_products_categories.product_id IN (
    8875, 1655, 516, 388, 523, 517, 8871, 
    8888, 9871, 10183, 10181, 10961
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00272

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories range PRIMARY,pt,product_id_idx,category_id_idx,product_category_idx,category_product_idx pt 3 150 Using index condition
1 SIMPLE product_position_source eq_ref PRIMARY,pt,product_id_idx,category_id_idx,product_category_idx,category_product_idx PRIMARY 6 const,mahm3t_cs443.cscart_products_categories.product_id 1
1 SIMPLE cscart_categories eq_ref PRIMARY,c_status,p_category_id,idx_category_id PRIMARY 3 mahm3t_cs443.cscart_products_categories.category_id 1 Using where

Result

product_id category_ids position
388 938,939,942,432M 0
516 938,939,942,922M 0
517 938,939,942,922M 0
523 938,939,942,922M 0
1655 938,939,946,432M 0
8871 938,939,943,482M 0
8875 938,939,943,946,482M 0
8888 937,939,943,482M 0
9871 938,939,942,432M 0
10181 938,939,944,432M 0
10183 938,939,944,432M 0
10961 938,939,942,890M 0