SELECT 
  netting_products_categories.product_id, 
  GROUP_CONCAT(
    IF(
      netting_products_categories.link_type = "M", 
      CONCAT(
        netting_products_categories.category_id, 
        "M"
      ), 
      netting_products_categories.category_id
    )
  ) AS category_ids 
FROM 
  netting_products_categories 
  INNER JOIN netting_categories ON netting_categories.category_id = netting_products_categories.category_id 
  AND netting_categories.storefront_id IN (0, 1) 
  AND (
    netting_categories.usergroup_ids = '' 
    OR FIND_IN_SET(
      0, netting_categories.usergroup_ids
    ) 
    OR FIND_IN_SET(
      1, netting_categories.usergroup_ids
    )
  ) 
  AND netting_categories.status IN ('A', 'H') 
WHERE 
  netting_products_categories.product_id IN (
    531, 533, 534, 535, 536, 537, 538, 539, 
    540, 541, 542, 543, 544, 545, 546, 547, 
    569, 570, 571, 572, 592, 593, 594, 595, 
    596, 597, 598, 599, 600, 601, 602, 603, 
    604, 605, 606, 607, 611, 612, 706, 707, 
    708, 709, 710, 711, 712, 713, 714, 715, 
    716, 717, 718, 719, 720, 721, 757, 758, 
    759, 761, 762, 763, 764, 765, 766, 767, 
    768, 769, 770, 771, 772, 773, 774, 775, 
    776
  ) 
GROUP BY 
  netting_products_categories.product_id

Query time 0.00218

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "read_sorted_file": {
          "filesort": {
            "sort_key": "netting_products_categories.product_id",
            "table": {
              "table_name": "netting_products_categories",
              "access_type": "ALL",
              "possible_keys": ["PRIMARY", "pt"],
              "rows": 724,
              "filtered": 35.49723816,
              "attached_condition": "netting_products_categories.product_id in (531,533,534,535,536,537,538,539,540,541,542,543,544,545,546,547,569,570,571,572,592,593,594,595,596,597,598,599,600,601,602,603,604,605,606,607,611,612,706,707,708,709,710,711,712,713,714,715,716,717,718,719,720,721,757,758,759,761,762,763,764,765,766,767,768,769,770,771,772,773,774,775,776)"
            }
          }
        }
      },
      {
        "table": {
          "table_name": "netting_categories",
          "access_type": "eq_ref",
          "possible_keys": ["PRIMARY", "c_status", "p_category_id"],
          "key": "PRIMARY",
          "key_length": "3",
          "used_key_parts": ["category_id"],
          "ref": ["pucuda_cscart.netting_products_categories.category_id"],
          "rows": 1,
          "filtered": 100,
          "attached_condition": "netting_categories.storefront_id in (0,1) and (netting_categories.usergroup_ids = '' or find_in_set(0,netting_categories.usergroup_ids) or find_in_set(1,netting_categories.usergroup_ids)) and netting_categories.`status` in ('A','H')"
        }
      }
    ]
  }
}