SELECT 
  tmall_products_categories.product_id, 
  GROUP_CONCAT(
    IF(
      tmall_products_categories.link_type = "M", 
      CONCAT(
        tmall_products_categories.category_id, 
        "M"
      ), 
      tmall_products_categories.category_id
    )
  ) AS category_ids 
FROM 
  tmall_products_categories 
  INNER JOIN tmall_categories ON tmall_categories.category_id = tmall_products_categories.category_id 
  AND tmall_categories.storefront_id IN (0, 1) 
  AND (
    tmall_categories.usergroup_ids = '' 
    OR FIND_IN_SET(
      0, tmall_categories.usergroup_ids
    ) 
    OR FIND_IN_SET(
      1, tmall_categories.usergroup_ids
    )
  ) 
  AND tmall_categories.status IN ('A', 'H') 
WHERE 
  tmall_products_categories.product_id IN (162, 159, 158) 
GROUP BY 
  tmall_products_categories.product_id

Query time 0.00898

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost": 0.013709127,
    "nested_loop": [
      {
        "table": {
          "table_name": "tmall_products_categories",
          "access_type": "range",
          "possible_keys": ["PRIMARY", "pt"],
          "key": "pt",
          "key_length": "3",
          "used_key_parts": ["product_id"],
          "loops": 1,
          "rows": 3,
          "cost": 0.006418575,
          "filtered": 100,
          "index_condition": "tmall_products_categories.product_id in (162,159,158)"
        }
      },
      {
        "table": {
          "table_name": "tmall_categories",
          "access_type": "eq_ref",
          "possible_keys": ["PRIMARY", "c_status", "p_category_id"],
          "key": "PRIMARY",
          "key_length": "3",
          "used_key_parts": ["category_id"],
          "ref": ["tmall.tmall_products_categories.category_id"],
          "loops": 3,
          "rows": 1,
          "cost": 0.005391878,
          "filtered": 100,
          "attached_condition": "tmall_categories.storefront_id in (0,1) and (tmall_categories.usergroup_ids = '' or find_in_set(0,tmall_categories.usergroup_ids) or find_in_set(1,tmall_categories.usergroup_ids)) and tmall_categories.`status` in ('A','H')"
        }
      }
    ]
  }
}