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 (
    9170, 9171, 9172, 9173, 9174, 9175, 9176, 
    9177, 9178, 9179, 9180, 9181, 9182, 
    9183, 9185, 9186, 9187, 9188, 9189, 
    9190, 9191, 9192, 9193, 9194, 9195, 
    9196, 9197, 9198, 9199, 9200, 9201, 
    9202
  ) 
GROUP BY 
  q_products_categories.product_id

Query time 0.00094

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "167.21"
    },
    "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": 52,
            "rows_produced_per_join": 52,
            "filtered": "100.00",
            "index_condition": "(`portal`.`q_products_categories`.`product_id` in (9170,9171,9172,9173,9174,9175,9176,9177,9178,9179,9180,9181,9182,9183,9185,9186,9187,9188,9189,9190,9191,9192,9193,9194,9195,9196,9197,9198,9199,9200,9201,9202))",
            "cost_info": {
              "read_cost": "94.41",
              "eval_cost": "10.40",
              "prefix_cost": "104.81",
              "data_read_per_join": "832"
            },
            "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": 10,
            "filtered": "20.00",
            "cost_info": {
              "read_cost": "52.00",
              "eval_cost": "2.08",
              "prefix_cost": "167.21",
              "data_read_per_join": "27K"
            },
            "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')))"
          }
        }
      ]
    }
  }
}