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 = 3 
  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 = 737 
WHERE 
  cscart_products_categories.product_id IN (
    430, 9470, 10705, 750, 10195, 426, 10670, 
    9457, 10157, 9938, 8862, 8860
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00247

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 3 137 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
426 930,962,963,968
430 927,961,963,967
750 927,962,963,967
8860 747,961,963,966
8862 747,961,964,966
9457 924,961,964,967
9470 927,961,963,969
9938 971
10157 930,962,963,968
10195 927,962,964,967
10670 930,962,964,968
10705 927,961,964,967