SELECT 
  q_products_categories.product_id, 
  GROUP_CONCAT(
    IF(
      q_products_categories.link_type = "M", 
      CONCAT(
        q_products_categories.category_id, 
        "M"
      ), 
      q_products_categories.category_id
    )
  ) AS category_ids 
FROM 
  q_products_categories 
  INNER JOIN q_categories ON q_categories.category_id = q_products_categories.category_id 
  AND (
    q_categories.usergroup_ids = '' 
    OR FIND_IN_SET(0, q_categories.usergroup_ids) 
    OR FIND_IN_SET(1, q_categories.usergroup_ids)
  ) 
  AND q_categories.status IN ('A', 'H') 
WHERE 
  q_products_categories.product_id IN (
    29201, 29202, 29203, 29204, 29205, 29206, 
    29207, 29208, 29209, 29210, 29211, 
    29212, 29213, 29214, 29215, 29216, 
    29218, 29219, 29220, 29221, 29222, 
    29223, 29224, 29225, 29226, 29227, 
    29228, 29229, 29230, 29231, 29232, 
    29233
  ) 
GROUP BY 
  q_products_categories.product_id

Query time 0.00101

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "151.61"
    },
    "grouping_operation": {
      "using_filesort": false,
      "nested_loop": [
        {
          "table": {
            "table_name": "q_products_categories",
            "access_type": "range",
            "possible_keys": [
              "PRIMARY",
              "pt"
            ],
            "key": "pt",
            "used_key_parts": [
              "product_id"
            ],
            "key_length": "3",
            "rows_examined_per_scan": 46,
            "rows_produced_per_join": 46,
            "filtered": "100.00",
            "index_condition": "(`portal`.`q_products_categories`.`product_id` in (29201,29202,29203,29204,29205,29206,29207,29208,29209,29210,29211,29212,29213,29214,29215,29216,29218,29219,29220,29221,29222,29223,29224,29225,29226,29227,29228,29229,29230,29231,29232,29233))",
            "cost_info": {
              "read_cost": "87.21",
              "eval_cost": "9.20",
              "prefix_cost": "96.41",
              "data_read_per_join": "736"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ]
          }
        },
        {
          "table": {
            "table_name": "q_categories",
            "access_type": "eq_ref",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "p_category_id"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id"
            ],
            "key_length": "3",
            "ref": [
              "portal.q_products_categories.category_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 9,
            "filtered": "20.00",
            "cost_info": {
              "read_cost": "46.00",
              "eval_cost": "1.84",
              "prefix_cost": "151.61",
              "data_read_per_join": "24K"
            },
            "used_columns": [
              "category_id",
              "usergroup_ids",
              "status"
            ],
            "attached_condition": "(((`portal`.`q_categories`.`usergroup_ids` = '') or find_in_set(0,`portal`.`q_categories`.`usergroup_ids`) or find_in_set(1,`portal`.`q_categories`.`usergroup_ids`)) and (`portal`.`q_categories`.`status` in ('A','H')))"
          }
        }
      ]
    }
  }
}