SELECT 
  c.id_path, 
  p.link_type 
FROM 
  cscart_categories as c 
  LEFT JOIN cscart_products_categories as p ON p.category_id = c.category_id 
WHERE 
  p.product_id = 66 
ORDER BY 
  p.category_position DESC, 
  p.category_id DESC

Query time 0.00097

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "478.62"
    },
    "ordering_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "225.12"
      },
      "nested_loop": [
        {
          "table": {
            "table_name": "p",
            "access_type": "ALL",
            "rows_examined_per_scan": 268,
            "rows_produced_per_join": 26,
            "filtered": "10.00",
            "cost_info": {
              "read_cost": "24.85",
              "eval_cost": "2.68",
              "prefix_cost": "27.53",
              "data_read_per_join": "428"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type",
              "category_position"
            ],
            "attached_condition": "(`mobikul_delivery_boy_livedemo`.`p`.`product_id` = 66)"
          }
        },
        {
          "table": {
            "table_name": "c",
            "access_type": "ALL",
            "rows_examined_per_scan": 84,
            "rows_produced_per_join": 225,
            "filtered": "10.00",
            "using_join_buffer": "hash join",
            "cost_info": {
              "read_cost": "0.85",
              "eval_cost": "22.51",
              "prefix_cost": "253.50",
              "data_read_per_join": "587K"
            },
            "used_columns": [
              "category_id",
              "id_path"
            ],
            "attached_condition": "(`mobikul_delivery_boy_livedemo`.`c`.`category_id` = `mobikul_delivery_boy_livedemo`.`p`.`category_id`)"
          }
        }
      ]
    }
  }
}