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.storefront_id IN (0, 1) 
  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 (
    1127, 1132, 1136, 1137, 1138, 1143, 1144, 
    1145, 1146, 1128, 1130, 1133, 1139, 
    1134, 1140, 1141, 1147, 1148, 1149, 
    1142, 1150, 1151, 1152, 1153, 1129, 
    1154, 1135, 1131
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00027

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_products_categories ALL PRIMARY,pt 29 Using where; Using filesort
1 SIMPLE cscart_categories eq_ref PRIMARY,c_status,p_category_id PRIMARY 3 hobilifedt.cscart_products_categories.category_id 1 Using where

Result

product_id category_ids
1127 734M
1128 734M
1129 734M
1130 734M
1131 734M
1132 734M
1133 734M
1134 734M
1135 734M
1136 734M
1137 734M
1138 734M
1139 734M
1140 734M
1141 734M
1142 734M
1143 734M
1144 734M
1145 734M
1146 734M
1147 734M
1148 734M
1149 734M
1150 734M
1151 734M
1152 734M
1153 734M
1154 734M