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.status IN ('A', 'H') 
WHERE 
  cscart_products_categories.product_id IN (
    29989, 69055, 69077, 26800, 69059, 69097, 
    69076, 29990, 69060, 69062, 69066, 
    69064, 26799, 28654, 69056, 69074, 
    69063, 69091, 26051, 19109, 21338, 
    69065, 69069, 69083
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.00165

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "14.76"
    },
    "grouping_operation": {
      "using_filesort": false,
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_products_categories",
            "access_type": "range",
            "possible_keys": [
              "PRIMARY",
              "link_type",
              "pt",
              "idx_product_category_lookup",
              "idx_products_categories_composite"
            ],
            "key": "idx_products_categories_composite",
            "used_key_parts": [
              "product_id"
            ],
            "key_length": "3",
            "rows_examined_per_scan": 26,
            "rows_produced_per_join": 26,
            "filtered": "100.00",
            "using_index": true,
            "cost_info": {
              "read_cost": "3.06",
              "eval_cost": "2.60",
              "prefix_cost": "5.66",
              "data_read_per_join": "416"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`cscart_db`.`cscart_products_categories`.`product_id` in (29989,69055,69077,26800,69059,69097,69076,29990,69060,69062,69066,69064,26799,28654,69056,69074,69063,69091,26051,19109,21338,69065,69069,69083))"
          }
        },
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "eq_ref",
            "possible_keys": [
              "PRIMARY",
              "p_category_id",
              "idx_categories_storefront_status",
              "idx_categories_usergroup_status",
              "idx_categories_status_id_path"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id"
            ],
            "key_length": "3",
            "ref": [
              "cscart_db.cscart_products_categories.category_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 21,
            "filtered": "81.96",
            "cost_info": {
              "read_cost": "6.50",
              "eval_cost": "2.13",
              "prefix_cost": "14.76",
              "data_read_per_join": "59K"
            },
            "used_columns": [
              "category_id",
              "status",
              "storefront_id"
            ],
            "attached_condition": "((`cscart_db`.`cscart_categories`.`storefront_id` in (0,1)) and (`cscart_db`.`cscart_categories`.`status` in ('A','H')))"
          }
        }
      ]
    }
  }
}