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.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 (
    200, 201, 202, 203, 204, 205, 206, 207, 
    208, 209, 190, 210, 211, 212, 213, 214, 
    215, 216, 217, 218, 219, 191, 220, 221, 
    222, 223, 224, 225, 226, 227, 228, 229, 
    192, 230, 231, 232, 233, 234, 235, 236, 
    237, 238, 239, 193, 240, 241, 242, 243, 
    194, 195, 198, 199, 77, 82, 84, 85, 83, 
    89, 164, 142, 92, 165, 78, 67
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00132

JSON explain

{
  "query_block": {
    "select_id": 1,
    "filesort": {
      "sort_key": "cscart_products_categories.product_id",
      "temporary_table": {
        "table": {
          "table_name": "cscart_categories",
          "access_type": "index",
          "possible_keys": ["PRIMARY", "c_status", "p_category_id"],
          "key": "c_status",
          "key_length": "909",
          "used_key_parts": ["usergroup_ids", "status", "parent_id"],
          "rows": 54,
          "filtered": 100,
          "attached_condition": "(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')",
          "using_index": true
        },
        "table": {
          "table_name": "cscart_products_categories",
          "access_type": "ref",
          "possible_keys": ["PRIMARY", "pt"],
          "key": "PRIMARY",
          "key_length": "3",
          "used_key_parts": ["category_id"],
          "ref": ["vietpom_dev.cscart_categories.category_id"],
          "rows": 2,
          "filtered": 48.2142868,
          "attached_condition": "cscart_products_categories.product_id in (200,201,202,203,204,205,206,207,208,209,190,210,211,212,213,214,215,216,217,218,219,191,220,221,222,223,224,225,226,227,228,229,192,230,231,232,233,234,235,236,237,238,239,193,240,241,242,243,194,195,198,199,77,82,84,85,83,89,164,142,92,165,78,67)"
        }
      }
    }
  }
}