Get all Companies that have one or more IDs from a set of Group IDs

Company.Groups is a comma-delimited list of Groups (aka, “Tags”) that are assigned to a given Company. Because Company.Groups is a string value, you cannot perform an “IN” statement search such as the documentation describes here:

IN statement ex: Id => [1,2,3,4]

So, is there another way to query all Companies that have one-or-more values from a set of Group IDs?