SELECT 
  tconnect_products_categories.product_id, 
  GROUP_CONCAT(
    IF(
      tconnect_products_categories.link_type = "M", 
      CONCAT(
        tconnect_products_categories.category_id, 
        "M"
      ), 
      tconnect_products_categories.category_id
    )
  ) AS category_ids, 
  product_position_source.position AS position 
FROM 
  tconnect_products_categories 
  INNER JOIN tconnect_categories ON tconnect_categories.category_id = tconnect_products_categories.category_id 
  AND tconnect_categories.storefront_id IN (0, 3) 
  AND (
    tconnect_categories.usergroup_ids = '' 
    OR FIND_IN_SET(
      0, tconnect_categories.usergroup_ids
    ) 
    OR FIND_IN_SET(
      1, tconnect_categories.usergroup_ids
    )
  ) 
  AND tconnect_categories.status IN ('A', 'H') 
  LEFT JOIN tconnect_products_categories AS product_position_source ON tconnect_products_categories.product_id = product_position_source.product_id 
  AND product_position_source.category_id = 167 
WHERE 
  tconnect_products_categories.product_id IN (214, 217, 218, 247, 244) 
GROUP BY 
  tconnect_products_categories.product_id

Query time 0.00373

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost": 0.031134823,
    "nested_loop": [
      {
        "table": {
          "table_name": "tconnect_products_categories",
          "access_type": "range",
          "possible_keys": ["PRIMARY", "pt"],
          "key": "pt",
          "key_length": "3",
          "used_key_parts": ["product_id"],
          "loops": 1,
          "rows": 5,
          "cost": 0.010057797,
          "filtered": 100,
          "index_condition": "tconnect_products_categories.product_id in (214,217,218,247,244)"
        }
      },
      {
        "table": {
          "table_name": "tconnect_categories",
          "access_type": "eq_ref",
          "possible_keys": ["PRIMARY", "c_status", "p_category_id"],
          "key": "PRIMARY",
          "key_length": "3",
          "used_key_parts": ["category_id"],
          "ref": ["tconnect.tconnect_products_categories.category_id"],
          "loops": 5,
          "rows": 1,
          "cost": 0.00884993,
          "filtered": 100,
          "attached_condition": "tconnect_categories.storefront_id in (0,3) and (tconnect_categories.usergroup_ids = '' or find_in_set(0,tconnect_categories.usergroup_ids) or find_in_set(1,tconnect_categories.usergroup_ids)) and tconnect_categories.`status` in ('A','H')"
        }
      },
      {
        "table": {
          "table_name": "product_position_source",
          "access_type": "eq_ref",
          "possible_keys": ["PRIMARY", "pt"],
          "key": "PRIMARY",
          "key_length": "6",
          "used_key_parts": ["category_id", "product_id"],
          "ref": ["const", "tconnect.tconnect_products_categories.product_id"],
          "loops": 5,
          "rows": 1,
          "cost": 0.00905473,
          "filtered": 100
        }
      }
    ]
  }
}